Traverse and trajectory optimization and multi-purpose tracking

{
  "publication_number": "US11353326B2",
  "country": "US",
  "kind": "B2",
  "title": "Traverse and trajectory optimization and multi-purpose tracking",
  "abstract": "Various examples are provided for object identification and tracking, traverse-optimization and/or trajectory optimization. In one example, a method includes determining a terrain map including at least one associated terrain type; and determining a recommended traverse along the terrain map based upon at least one defined constraint associated with the at least one associated terrain type. In another example, a method includes determining a transformation operator corresponding to a reference frame based upon at least one fiducial marker in a captured image comprising a tracked object; converting the captured image to a standardized image based upon the transformation operator, the standardized image corresponding to the reference frame; and determining a current position of the tracked object from the standardized image.",
  "claims": [
    "1. A method, comprising: determining a terrain map including at least one associated terrain type, wherein the terrain map comprises a two-dimensional (2D) terrain type map identifying the at least one associated terrain type; determining a recommended traverse along the terrain map based upon at least one defined constraint associated with the at least one associated terrain type, wherein the recommended traverse is determined using a stochastic optimization framework (SOF); and transmitting control instructions to an object, the control instructions initiating movement of the object along the recommended traverse.",
    "2. The method of claim 1, wherein the terrain map comprises a 3D terrain plot corresponding to a surface and the object is a vehicle configured to move along the surface.",
    "3. The method of claim 2, wherein the surface is a planetary surface and the vehicle is a planetary rover.",
    "4. The method of claim 1, wherein the at least one associated terrain type comprises terrain roughness or traversability.",
    "5. A method, comprising: determining a transformation operator corresponding to a reference frame based upon at least one fiducial marker in a captured image comprising a tracked object; converting the captured image to a standardized image based upon the transformation operator, the standardized image corresponding to the reference frame; determining a current position of the tracked object from the standardized image; and correcting movement of the tracked object based upon feedback generated using the current position and a traverse along which the tracked object is instructed to move.",
    "6. The method of claim 5, comprising determining a change in position of the tracked object based upon the current position and a previous position determined from a preceding standardized image.",
    "7. The method of claim 5, wherein the at least one fiducial marker comprises a geolocalized marker having a known fixed location.",
    "8. The method of claim 5, wherein the standardized image is converted from the captured image based upon a plurality of transformation operators.",
    "9. The method of claim 5, wherein the transformation operator is at least one of a translation operator, a scaling operator, or a rotational operator.",
    "10. The method of claim 5, wherein the captured image is obtained by an image capture device that moves with up to six degrees of freedom.",
    "11. The method of claim 10, wherein the image capture device is suspended over an area of interest.",
    "12. The method of claim 5, comprising identifying the tracked object in the captured image prior to converting the captured image to the standardized image.",
    "13. The method of claim 5, comprising identifying the tracked object in the standardized image.",
    "14. The method of claim 5, comprising: comparing the current position of the tracked object to the traverse along which the tracked object is instructed to move; and generating the feedback based upon the comparison of the current position to the traverse.",
    "15. The method of claim 5, wherein the traverse is a recommended traverse determined by: determining a terrain map including at least one associated terrain type; and determining the recommended traverse along the terrain map based upon at least one defined constraint associated with the at least one associated terrain type.",
    "16. The method of claim 5, wherein the tracked object is a prosthetic limb or a natural limb of an individual."
  ],
  "cpc": [
    "G01C 21/005",
    "G01C 21/20",
    "G05D 1/0217",
    "G05D 1/0274",
    "G05D 2201/0218"
  ],
  "assignees": [
    "UNIV ARIZONA"
  ],
  "filing_date": "2017-03-06",
  "publication_date": "2022-06-07",
  "grant_date": "2022-06-07",
  "priority_date": "2016-03-06",
  "application_number": "US-201715450890-A",
  "family_id": "59722699",
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}