Daniel E Small

US Patent:

7257237, Aug 14, 2007

Filed:

Mar 4, 2004

Appl. No.:

10/794331

Inventors:

Jason P. Luck - Arvada CO, US
Daniel E. Small - Albuquerque NM, US

Assignee:

Sandia Corporation - Albuquerque NM

International Classification:

G06T 17/10
G06T 7/20
G06K 9/32
G06K 9/64

US Classification:

382103, 382154

Abstract:

A markerless method is described for tracking the motion of subjects in a three dimensional environment using a model based on linked kinematic chains. The invention is suitable for tracking robotic, animal or human subjects in real-time using a single computer with inexpensive video equipment, and does not require the use of markers or specialized clothing. A simple model of rigid linked segments is constructed of the subject and tracked using three dimensional volumetric data collected by a multiple camera video imaging system. A physics based method is then used to compute forces to align the model with subsequent volumetric data sets in real-time. The method is able to handle occlusion of segments and accommodates joint limits, velocity constraints, and collision constraints and provides for error recovery. The method further provides for elimination of singularities in Jacobian based calculations, which has been problematic in alternative methods.

US Patent:

20230091829, Mar 23, 2023

Filed:

Sep 15, 2022

Appl. No.:

17/945157

Inventors:

- Albuquerque NM, US
Daniel E. Small - Albuquerque NM, US
David K. Novick - Albuquerque NM, US
Julius Yellowhair - Albuquerque NM, US

International Classification:

G06T 7/564
H02S 40/22

Abstract:

Various embodiments may include collecting, by an unmanned aerial vehicle (UAV), a measuring image of an assessed heliostat in a heliostat field. The measuring image of the assessed heliostat includes an assessed facet forming a reflective surface of the assessed heliostat. At least a portion of a reference heliostat is visible in a reflection on the assessed facet. Also, a surface normal variance between a calculated surface normal of the assessed heliostat and a presumed surface normal of the assessed heliostat may be collected. The calculated surface normal is determined from a point on the assessed facet that corresponds to one or more features of the reference heliostat identifiable in the reflection. The presumed surface normal of the assessed heliostat may be updated based on the determined surface normal variance.