Patents by Inventor Kristian Morin

Kristian Morin has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 9957692
    Abstract: A system and method for automatically controlling working edges on a heavy equipment vehicle is provided. A GNSS/INS system determines a location of the vehicle. A vision system calculates a location of the working edge in a vision system coordinate system by obtaining images of a target connected to the working edge using a camera with a fixed field view that obtains distance information for each pixel in the fixed field of view. The location is then transformed to the navigation system coordinate system. The transformed location information is used by a working edge control system to control the placement of the working edge.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: May 1, 2018
    Assignee: Hexagon Technology Center GmbH
    Inventor: Kristian Morin
  • Patent number: 9441974
    Abstract: The inventive technique calculates lever arm values associated with a GNSS/INS system photogrammetrically. A calibrated camera on a device captures a plurality of images of the GNSS/INS system with the inclusion of a target, having known attributes and a plurality of control points. Thereafter, an application, executing on the device determines the lever arm values from the images of the GNSS/INS system utilizing the known attributes and the control points of the target. The INS may utilize the calculated lever arm values to combine information received from a GNSS receiver, of the GNSS/INS system, with information provided by sensors of the INS to compute updated positions, velocities, and/or orientations.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: September 13, 2016
    Assignee: NOVATEL INC.
    Inventors: Kristian Morin, Ryan Dixon
  • Patent number: 9435651
    Abstract: A system and method for augmenting a GNSS/INS system by using a vision system is provided. The GNSS system generates GNSS location information and the INS system generates inertial location information. The vision system further generates vision system location information including horizon, plumb lines and distance traveled. The GNSS information, INS information and vision system are combined in a Kalman filter to produce improved location information.
    Type: Grant
    Filed: June 4, 2014
    Date of Patent: September 6, 2016
    Assignee: Hexagon Technology Center GmbH
    Inventor: Kristian Morin
  • Patent number: 9420275
    Abstract: A system determines an otherwise unknown position and orientation of a camera in a working environment, relative to an associated coordinate system, based on visually identifiable unique objects in images taken by the camera. The system utilizes a database that includes or may be updated to include position coordinates for unique objects of interest. The system identifies a plurality of objects within images taken by the camera at a given location, and enters the database either to determine position coordinates for the respective identified objects or to add position coordinates to the data base for the respective identified objects, or both. The system may also update the database to include newly identified unique objects and objects that are altered between images, to determine position and orientation of the camera in a changing environment. Sensors may be included to add additional information relative to the position and orientation of the camera.
    Type: Grant
    Filed: November 1, 2012
    Date of Patent: August 16, 2016
    Assignee: HEXAGON TECHNOLOGY CENTER GMBH
    Inventors: Kristian Morin, Sandy Kennedy
  • Patent number: 9411053
    Abstract: A system and method for augmenting a GNSS/INS system by using a vision system is provided. The GNSS system generates GNSS location information and the INS system generates inertial location information. The vision system further generates vision system location information that is used as an input to an error correction module. The error correction module outputs inertial location adjustment information that is used to update the inertial system's location information.
    Type: Grant
    Filed: June 19, 2014
    Date of Patent: August 9, 2016
    Assignee: NovAtel Inc.
    Inventor: Kristian Morin
  • Publication number: 20150369923
    Abstract: A system and method for augmenting a GNSS/INS system by using a vision system is provided. The GNSS system generates GNSS location information and the INS system generates inertial location information. The vision system further generates vision system location information that is used as an input to an error correction module. The error correction module outputs inertial location adjustment information that is used to update the inertial system's location information.
    Type: Application
    Filed: June 19, 2014
    Publication date: December 24, 2015
    Inventor: Kristian Morin
  • Publication number: 20150354966
    Abstract: A system and method for augmenting a GNSS/INS system by using a vision system is provided. The GNSS system generates GNSS location information and the INS system generates inertial location information. The vision system further generates vision system location information including horizon, plumb lines and distance traveled. The GNSS information, INS information and vision system are combined in a Kalman filter to produce improved location information.
    Type: Application
    Filed: June 4, 2014
    Publication date: December 10, 2015
    Applicant: NovAtel Inc.
    Inventor: Kristian Morin
  • Patent number: 9202123
    Abstract: A camera image processing subsystem processes image data corresponding to observations taken through a lens of focal point f using a spherical pin-hole model that maps the image data through a perspective center of a pin-hole prospective plane located within the lens onto a model sphere that is a focal length f in diameter and has its center at the perspective center of the pin-hole prospective plane. The subsystem models systematic distortion as rotation about coordinate axis of the pin-hole prospective plane, and maps all of the data, over the entire field of view of the lens, to corresponding spherical coordinates.
    Type: Grant
    Filed: November 6, 2012
    Date of Patent: December 1, 2015
    Assignee: NovAtel Inc.
    Inventor: Kristian Morin
  • Patent number: 9182237
    Abstract: A navigation system for use with moving vehicles includes target points proximate to a rendezvous site located on a first moving vehicle. One or more transmitters broadcast target point positioning information. A navigation unit on a second moving vehicle utilizes a camera to capture images that include the target points or a detector system that emits one or more beams to the target points. The navigation unit determines the relative position and orientation of the rendezvous site at the second vehicle. The navigation unit utilizes the relative position and orientation and an absolute position and orientation of the rendezvous site calculated from the target position information and calculates an absolute position and orientation corresponding to the second vehicle. The navigation unit then initializes its component inertial subsystem using a local position and orientation that are based on the calculated absolute position and orientation of the second vehicle.
    Type: Grant
    Filed: February 12, 2015
    Date of Patent: November 10, 2015
    Assignee: NOVATEL INC.
    Inventors: Kristian Morin, Michael Bobye, Sandra Kennedy
  • Patent number: 9154717
    Abstract: The invention relates to a method for correcting a distortion in an aerial photograph caused by a flight movement in the forward direction. The aerial photograph is captured by a surface sensor, the sensor lines of which sensor are exposed at different, successive exposure times, so that each individual sensor line senses a strip of terrain of the terrain flow over at the different exposure times. A relative flight altitude above the strips of terrain captured by the respective sensor line is assigned to the individual sensor lines. Furthermore, a compensation factor is separately determined for each of the individual sensor lines, wherein the factor depends on an air speed of the flying object, a focal length of the aerial camera and the relative flight altitude assigned to the respective sensor line, and corrects the distortion in the aerial photograph for the lines based on the respective compensation factor.
    Type: Grant
    Filed: May 3, 2010
    Date of Patent: October 6, 2015
    Assignees: LEICA GEOSYSTEMS AG, NOVATEL INC.
    Inventors: Gert Ferrano, Bernd Walser, Kristian Morin
  • Publication number: 20150268047
    Abstract: A navigation system for use with moving vehicles includes target points proximate to a rendezvous site located on a first moving vehicle. One or more transmitters broadcast target point positioning information. A navigation unit on a second moving vehicle utilizes a camera to capture images that include the target points or a detector system that emits one or more beams to the target points. The navigation unit determines the relative position and orientation of the rendezvous site at the second vehicle. The navigation unit utilizes the relative position and orientation and an absolute position and orientation of the rendezvous site calculated from the target position information and calculates an absolute position and orientation corresponding to the second vehicle. The navigation unit then initializes its component inertial subsystem using a local position and orientation that are based on the calculated absolute position and orientation of the second vehicle.
    Type: Application
    Filed: February 12, 2015
    Publication date: September 24, 2015
    Inventors: Kristian Morin, Michael Bobye, Sandra Kennedy
  • Patent number: 8996311
    Abstract: A navigation system for use with moving vehicles includes target points proximate to a rendezvous site located on a first moving vehicle. One or more transmitters associated with the target points broadcast time-tagged target point positioning information. A navigation unit on a second moving vehicle utilizes a camera with known properties to capture images that include the target points. The navigation unit processes the image that corresponds in time to the positioning information, to determine the relative position and orientation of the rendezvous site at the second vehicle. The navigation unit utilizes the relative position and orientation and an absolute position and orientation of the rendezvous site calculated from the target position information and calculates an absolute position and orientation corresponding to the second vehicle.
    Type: Grant
    Filed: December 6, 2013
    Date of Patent: March 31, 2015
    Assignee: NovAtel Inc.
    Inventors: Kristian Morin, Michael Bobye, Sandy Kennedy
  • Patent number: 8972119
    Abstract: A system and method for automatically controlling working edges on a heavy equipment vehicle is provided. A GNSS/INS system determines a location of the vehicle. A vision system calculates a location of the working edge in a vision system coordinate system by obtaining images of a target connected to the working edge using a camera with a fixed field view that incorporates the relative movement of the target and determining the relative position of the target in the images. The location is then transformed to the navigation system coordinate system. The transformed location information is used by a working edge control system to control the placement of the working edge.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: March 3, 2015
    Inventor: Kristian Morin
  • Publication number: 20140277956
    Abstract: A system and method for automatically controlling working edges on a heavy equipment vehicle is provided. A GNSS/INS system determines a location of the vehicle. A vision system calculates a location of the working edge in a vision system coordinate system by obtaining images of a target connected to the working edge using a camera with a fixed field view that incorporates the relative movement of the target and determining the relative position of the target in the images. The location is then transformed to the navigation system coordinate system. The transformed location information is used by a working edge control system to control the placement of the working edge.
    Type: Application
    Filed: March 15, 2013
    Publication date: September 18, 2014
    Applicant: NovAtel Inc.
    Inventor: Kristian Morin
  • Publication number: 20140267686
    Abstract: A system and method for augmenting a GNSS/INS system by using a vision system is provided. The GNSS system generates GNSS location information and the INS system generates inertial location information. The vision system further generates vision system location information based on pitch, roll, heading and velocity of the vessel. A Kalman filter de-weights the inertial location information in response to the vessel entering a low dynamic environment, while the weighting of the vision system location information is increased.
    Type: Application
    Filed: March 15, 2013
    Publication date: September 18, 2014
    Applicant: NovAtel Inc.
    Inventor: Kristian Morin
  • Publication number: 20140270380
    Abstract: A system and method for automatically controlling working edges on a heavy equipment vehicle is provided. A GNSS/INS system determines a location of the vehicle. A vision system calculates a location of the working edge in a vision system coordinate system by obtaining images of a target connected to the working edge using a camera with a fixed field view that obtains distance information for each pixel in the fixed field of view. The location is then transformed to the navigation system coordinate system. The transformed location information is used by a working edge control system to control the placement of the working edge.
    Type: Application
    Filed: March 15, 2013
    Publication date: September 18, 2014
    Applicant: NovAtel Inc.
    Inventor: Kristian Morin
  • Publication number: 20140267772
    Abstract: A robotic total station includes a camera and a pattern recognition subsystem that automatically determine an azimuth angle to which to direct a laser on the total station for target re-acquisition. The camera records images that scan a search area of interest, and the pattern recognition subsystem processes the images to locate the target in one or more of the images as a predetermined pixel pattern that is based on a distinct characteristic of the target, such as a shape of the target, a color of the target, markings present on the target, and so forth. The subsystem calculates the azimuth angle of the target based on the location of the target in the images, the pointing direction of the camera and the known characteristics of the camera. The robotic total station then rotates to the azimuth angle and directs laser pulses to re-acquire the target.
    Type: Application
    Filed: March 15, 2013
    Publication date: September 18, 2014
    Applicant: NOVATEL INC.
    Inventors: Kristian Morin, Guojiang Gao
  • Publication number: 20140125812
    Abstract: A camera image processing subsystem processes image data corresponding to observations taken through a lens of focal point f using a spherical pin-hole model that maps the image data through a perspective center of a pin-hole prospective plane located within the lens onto a model sphere that is a focal length f in diameter and has its center at the perspective center of the pin-hole prospective plane. The subsystem models systematic distortion as rotation about coordinate axis of the pin-hole prospective plane, and maps all of the data, over the entire field of view of the lens, to corresponding spherical coordinates.
    Type: Application
    Filed: November 6, 2012
    Publication date: May 8, 2014
    Applicant: NOVATEL INC.
    Inventor: Kristian Morin
  • Publication number: 20140118536
    Abstract: A system determines an otherwise unknown position and orientation of a camera in a working environment, relative to an associated coordinate system, based on visually identifiable unique objects in images taken by the camera. The system utilizes a database that includes or may be updated to include position coordinates for unique objects of interest. The system identifies a plurality of objects within one or more images taken by the camera at a given location, and enters the database either to determine position coordinates for the respective identified objects or to add position coordinates to the data base for the respective identified objects, or both. The system may also update the database to include newly identified unique objects and objects that are altered between images, to determine position and orientation of the camera in a changing environment. Sensors may be included to add additional information relative to the position and orientation of the camera.
    Type: Application
    Filed: November 1, 2012
    Publication date: May 1, 2014
    Applicant: NOVATEL INC.
    Inventors: Kristian Morin, Sandy Kennedy
  • Publication number: 20120062730
    Abstract: The invention relates to a method for correcting a distortion in an aerial photograph caused by a flight movement in the forward direction. The aerial photograph is captured by a surface sensor, the sensor lines of which sensor are exposed at different, successive exposure times, so that each individual sensor line senses a strip of terrain of the terrain flow over at the different exposure times. A relative flight altitude above the strips of terrain captured by the respective sensor line is assigned to the individual sensor lines. Furthermore, a compensation factor is separately determined for each of the individual sensor lines, wherein the factor depends on an air speed of the flying object, a focal length of the aerial camera and the relative flight altitude assigned to the respective sensor line, and corrects the distortion in the aerial photograph for the lines based on the respective compensation factor.
    Type: Application
    Filed: May 3, 2010
    Publication date: March 15, 2012
    Applicants: NOVATEL INC., LEICA GEOSYSTEMS AG
    Inventors: Gert Ferrano, Bernd Walser, Kristian Morin