Patents by Inventor Robert Rutkiewicz

Robert Rutkiewicz 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: 11521504
    Abstract: Apparatus and associated methods relate to ranging object(s) nearby an aircraft using triangulation. A light projector mounted at a projector location on the aircraft projects pulses of polarized light onto the scene external to the aircraft. The projected pulses of polarized light are polarized in a first polarization state. A camera mounted at a camera location on the aircraft has a shutter synchronized to the projector output pulse and receives a portion of the projected pulses of polarized light reflected by the object(s) in the scene and polarized at a second polarization state orthogonal to the first polarization state. Location(s) and/or range(s) of the object(s) is calculated, based on the projector location, the camera location, and pixel location(s) upon which the portion of light is imaged.
    Type: Grant
    Filed: March 18, 2020
    Date of Patent: December 6, 2022
    Assignee: ROSEMOUNT AEROSPACE INC.
    Inventors: Robert Rutkiewicz, Joseph T. Pesik
  • Patent number: 11181368
    Abstract: A system includes at least one light projector, at least one image sensor, and at least one controller. The at least one light projector is attachable to an aircraft at a first location. The at least one light projector is configured to emit a first beam of light in a first direction at a first intensity. The at least one image sensor is attachable to the aircraft at a second location. The at least one image sensor is configured to capture a first image of a scene including reflections of the first beam of light and a second image of the scene without the at least one projector emitting a beam of light. The at least one controller is configured to determine a maximum detection range of the first beam of light based upon the light intensity of the light beam, the first location, and the second location.
    Type: Grant
    Filed: August 20, 2018
    Date of Patent: November 23, 2021
    Assignee: SIMMONDS PRECISION PRODUCTS, INC.
    Inventors: Robert Rutkiewicz, David Matty, Kent Allan Ramthun, Joseph T. Pesik
  • Publication number: 20210295723
    Abstract: Apparatus and associated methods relate to ranging object(s) nearby an aircraft using triangulation. A light projector mounted at a projector location on the aircraft projects pulses of polarized light onto the scene external to the aircraft. The projected pulses of polarized light are polarized in a first polarization state. A camera mounted at a camera location on the aircraft has a shutter synchronized to the projector output pulse and receives a portion of the projected pulses of polarized light reflected by the object(s) in the scene and polarized at a second polarization state orthogonal to the first polarization state. Location(s) and/or range(s) of the object(s) is calculated, based on the projector location, the camera location, and pixel location(s) upon which the portion of light is imaged.
    Type: Application
    Filed: March 18, 2020
    Publication date: September 23, 2021
    Inventors: Robert Rutkiewicz, Joseph T. Pesik
  • Patent number: 10922986
    Abstract: A system includes a first smart sensor, a second smart sensor, and at least one image processor. The first smart sensor is configured to sense light in a forward direction and to capture an image during a first time period. The second sensor is configured to sense light in the forward direction and to capture a second image during the first time period. The at least one image processor is configured to identify at least one object in the first and second image, to determine a first size of the at least one object in the first image and a second size of the at least one object in the second image, and to determine a distance of the at least one object from the aircraft based upon the first size and the second size.
    Type: Grant
    Filed: July 18, 2018
    Date of Patent: February 16, 2021
    Assignee: Simmons Precision Products, Inc.
    Inventors: Robert Rutkiewicz, Todd Anthony Ell, Joseph T. Pesik
  • Patent number: 10818024
    Abstract: Apparatus and associated methods relate to ranging an object nearby an aircraft by triangulation using two simultaneously-captured images of the object. The two images are simultaneously captured from two distinct vantage points on the aircraft. Because the two images are captured from distinct vantage points, the object can be imaged at different pixel-coordinate locations in the two images. The two images are correlated with one another so as to determine the pixel-coordinate locations corresponding to the object. Range to the object is calculated based on the determined pixel-coordinate locations and the two vantage points from which the two images are captured. Only a subset of each image is used for the correlation. The subset used for correlation includes pixel data from pixels upon which spatially-patterned light that is projected onto the object by a light projector and reflected by the object.
    Type: Grant
    Filed: March 26, 2018
    Date of Patent: October 27, 2020
    Assignee: Simmonds Precision Products, Inc.
    Inventors: Robert Rutkiewicz, Todd Anthony Ell, Joseph T. Pesik
  • Patent number: 10720069
    Abstract: Apparatus and associated methods relate to ranging object(s) nearby an aircraft using triangulation of pulses of linearly-patterned light projected upon and reflected by the object(s). A light projector projects the pulses of linearly-patterned light in a controllable direction onto the scene external to the aircraft. A reflected portion of the projected pulses is focused onto a selected row or column of light-sensitive pixels of a two-dimensional array, thereby forming a row or column of image data. The direction of projected light and the row or column of pixels selected are coordinated so that the portion of the projected pulses reflected by the scene is received by the camera and focused on the selected one of the rows or columns of light-sensitive pixels. Location(s) and/or range(s) of object(s) in the scene are calculated, based on a projector location, a camera location, and the row or column of image data.
    Type: Grant
    Filed: April 17, 2017
    Date of Patent: July 21, 2020
    Assignee: Rosemount Aerospace Inc.
    Inventors: Robert Rutkiewicz, Joseph T. Pesik, Todd Anthony Ell
  • Publication number: 20200056885
    Abstract: A system includes at least one light projector, at least one image sensor, and at least one controller. The at least one light projector is attachable to an aircraft at a first location. The at least one light projector is configured to emit a first beam of light in a first direction at a first intensity. The at least one image sensor is attachable to the aircraft at a second location. The at least one image sensor is configured to capture a first image of a scene including reflections of the first beam of light and a second image of the scene without the at least one projector emitting a beam of light. The at least one controller is configured to determine a maximum detection range of the first beam of light based upon the light intensity of the light beam, the first location, and the second location.
    Type: Application
    Filed: August 20, 2018
    Publication date: February 20, 2020
    Inventors: Robert Rutkiewicz, David Matty, Kent Allan Ramthun, Joseph T. Pesik
  • Patent number: 10559213
    Abstract: Apparatus and associated methods relate to ranging object(s) nearby an aircraft using triangulation of pulses of spatially-patterned light projected upon and reflected by the object(s). The projected pulses provide rapidly-changing illumination of a spatially patterned portion of the scene. A camera receives a reflected portion of the projected pulse and focuses the received portion onto a plurality of light-sensitive pixels, thereby forming a pulse image. The pulse image includes pixel data indicative of a rate of change of light intensity focused thereon exceeding a predetermined threshold. Pixel coordinates, corresponding to a subset of the plurality of light-sensitive pixels that are indicative of the rate of change of light intensity exceeding a predetermined threshold, are identified. Trajectory and/or range data of object(s) in the scene are calculated, based on a projector location, a camera location, and the identified pixel coordinates.
    Type: Grant
    Filed: March 6, 2017
    Date of Patent: February 11, 2020
    Assignee: Rosemount Aerospace Inc.
    Inventors: Todd Anthony Ell, Robert Rutkiewicz, Joseph T. Pesik
  • Publication number: 20200027361
    Abstract: A system includes a first smart sensor, a second smart sensor, and at least one image processor. The first smart sensor is configured to sense light in a forward direction and to capture an image during a first time period. The second sensor is configured to sense light in the forward direction and to capture a second image during the first time period. The at least one image processor is configured to identify at least one object in the first and second image, to determine a first size of the at least one object in the first image and a second size of the at least one object in the second image, and to determine a distance of the at least one object from the aircraft based upon the first size and the second size.
    Type: Application
    Filed: July 18, 2018
    Publication date: January 23, 2020
    Inventors: Robert Rutkiewicz, Todd Anthony Ell, Joseph T. Pesik
  • Publication number: 20190310373
    Abstract: Apparatus and associated methods relate to ranging an object in a scene external to an aircraft. A light projector and two cameras are mounted on the aircraft, the cameras at two locations distinct from one another. The light projector and the two cameras are coordinated so that the light projector projects a linear-patterned beam of light while the cameras simultaneously capture a row or column of image data corresponding to an active row or column of pixels upon which a linear-patterned beam of light projected by the light projector and reflected by the scene is focused. Range to the object is calculated using triangulation based on the captured rows or columns of image data and the distinct locations of the two cameras from which the image data are simultaneously captured.
    Type: Application
    Filed: April 10, 2018
    Publication date: October 10, 2019
    Inventors: Robert Rutkiewicz, Todd Anthony Ell, Joseph T. Pesik
  • Publication number: 20190295274
    Abstract: Apparatus and associated methods relate to ranging an object nearby an aircraft by triangulation using two simultaneously-captured images of the object. The two images are simultaneously captured from two distinct vantage points on the aircraft. Because the two images are captured from distinct vantage points, the object can be imaged at different pixel-coordinate locations in the two images. The two images are correlated with one another so as to determine the pixel-coordinate locations corresponding to the object. Range to the object is calculated based on the determined pixel-coordinate locations and the two vantage points from which the two images are captured. Only a subset of each image is used for the correlation. The subset used for correlation includes pixel data from pixels upon which spatially-patterned light that is projected onto the object by a light projector and reflected by the object.
    Type: Application
    Filed: March 26, 2018
    Publication date: September 26, 2019
    Inventors: Robert Rutkiewicz, Todd Anthony Ell, Joseph T. Pesik
  • Patent number: 10249203
    Abstract: Apparatus and associated methods relate to using an image of a fiducial located indicating a parking location for the aircraft to provide docking guidance data to a pilot of an aircraft. The fiducial has vertically-separated indicia and laterally-separated indicia. A camera is configured to mount at a camera location so as to be able to capture two-dimensional images of a scene external to the aircraft. The two-dimensional image includes pixel data generated by the two-dimensional array of light-sensitive pixels. A digital processor identifies first and second sets of pixel coordinates corresponding to the two vertically-separated and the two laterally-separated indicia, respectively. The digital processor then calculates, based at least in part on the identified first pixel coordinates corresponding to the two vertically-separated indicia, a range to the parking location.
    Type: Grant
    Filed: April 17, 2017
    Date of Patent: April 2, 2019
    Assignee: Rosemount Aerospace Inc.
    Inventors: Joseph T. Pesik, Todd Anthony Ell, Robert Rutkiewicz
  • Publication number: 20190066523
    Abstract: Apparatus and associated methods relate to controlling, based on a mode selector, the field of view of an external object detector during aircraft taxi operations. For example, during high-speed taxi operations, the field of view can be controlled to have a relatively-small solid-angle of detection capability. The relatively-small solid-angle field of view can be aligned so as to detect more distant objects within a narrow corridor extending forward of the aircraft's wingtips. During low-speed taxi operations, for example, the field of view can be controlled to have a relatively-large solid-angle of detection capability. The relatively-large solid-angle field of view can be aligned so as to detect close objects in the vicinity of the aircraft wings and engine nacelle. The object detector projects structured light within the controlled field of view, thereby illuminating the object(s) external to the aircraft that are within the illumination field of view.
    Type: Application
    Filed: August 22, 2017
    Publication date: February 28, 2019
    Inventors: Joseph T. Pesik, Robert Rutkiewicz, Todd Anthony Ell
  • Patent number: 10217371
    Abstract: Apparatus and associated methods relate to controlling, based on a mode selector, the field of view of an external object detector during aircraft taxi operations. For example, during high-speed taxi operations, the field of view can be controlled to have a relatively-small solid-angle of detection capability. The relatively-small solid-angle field of view can be aligned so as to detect more distant objects within a narrow corridor extending forward of the aircraft's wingtips. During low-speed taxi operations, for example, the field of view can be controlled to have a relatively-large solid-angle of detection capability. The relatively-large solid-angle field of view can be aligned so as to detect close objects in the vicinity of the aircraft wings and engine nacelle. The object detector projects structured light within the controlled field of view, thereby illuminating the object(s) external to the aircraft that are within the illumination field of view.
    Type: Grant
    Filed: August 22, 2017
    Date of Patent: February 26, 2019
    Assignee: Rosemount Aerospace Inc.
    Inventors: Joseph T. Pesik, Robert Rutkiewicz, Todd Anthony Ell
  • Publication number: 20180301045
    Abstract: Apparatus and associated methods relate to using an image of a fiducial located indicating a parking location for the aircraft to provide docking guidance data to a pilot of an aircraft. The fiducial has vertically-separated indicia and laterally-separated indicia. A camera is configured to mount at a camera location so as to be able to capture two-dimensional images of a scene external to the aircraft. The two-dimensional image includes pixel data generated by the two-dimensional array of light-sensitive pixels. A digital processor identifies first and second sets of pixel coordinates corresponding to the two vertically-separated and the two laterally-separated indicia, respectively. The digital processor then calculates, based at least in part on the identified first pixel coordinates corresponding to the two vertically-separated indicia, a range to the parking location.
    Type: Application
    Filed: April 17, 2017
    Publication date: October 18, 2018
    Inventors: Joseph T. Pesik, Todd Anthony Ell, Robert Rutkiewicz
  • Publication number: 20180301043
    Abstract: Apparatus and associated methods relate to ranging object(s) nearby an aircraft using triangulation of pulses of linearly-patterned light projected upon and reflected by the object(s). A light projector projects the pulses of linearly-patterned light in a controllable direction onto the scene external to the aircraft. A reflected portion of the projected pulses is focused onto a selected row or column of light-sensitive pixels of a two-dimensional array, thereby forming a row or column of image data. The direction of projected light and the row or column of pixels selected are coordinated so that the portion of the projected pulses reflected by the scene is received by the camera and focused on the selected one of the rows or columns of light-sensitive pixels. Location(s) and/or range(s) of object(s) in the scene are calculated, based on a projector location, a camera location, and the row or column of image data.
    Type: Application
    Filed: April 17, 2017
    Publication date: October 18, 2018
    Inventors: Robert Rutkiewicz, Joseph T. Pesik, Todd Anthony Ell
  • Patent number: 10096256
    Abstract: Apparatus and associated methods relate to calculating position and/or range data of object(s) in a scene external to an aircraft. A light projector is configured to project, from an aircraft projector location, a collimated beam of light in a controllable direction onto the scene. The light projector is further configured to control the intensity of the projected light, based on the controlled direction of the collimated beam of light. The reflected beam is detected by a camera located apart from the light projector. An image processor is configured to use triangulation, to calculate position values and/or range data of the object(s) in the scene. The image processor can be further configured to identify the object(s) in the scene and to produce, based in object(s) in the scene, one or more maps of the scene. The intensity of the collimated beam can be controlled based on the produced maps.
    Type: Grant
    Filed: March 7, 2017
    Date of Patent: October 9, 2018
    Assignee: Rosemount Aerospace Inc.
    Inventors: Robert Rutkiewicz, Todd Anthony Ell, Joseph T. Pesik
  • Publication number: 20180261111
    Abstract: Apparatus and associated methods relate to calculating position and/or range data of object(s) in a scene external to an aircraft. A light projector is configured to project, from an aircraft projector location, a collimated beam of light in a controllable direction onto the scene. The light projector is further configured to control the intensity of the projected light, based on the controlled direction of the collimated beam of light. The reflected beam is detected by a camera located apart from the light projector. An image processor is configured to use triangulation, to calculate position values and/or range data of the object(s) in the scene. The image processor can be further configured to identify the object(s) in the scene and to produce, based in object(s) in the scene, one or more maps of the scene. The intensity of the collimated beam can be controlled based on the produced maps.
    Type: Application
    Filed: March 7, 2017
    Publication date: September 13, 2018
    Inventors: Robert Rutkiewicz, Todd Anthony Ell, Joseph T. Pesik
  • Publication number: 20180253983
    Abstract: Apparatus and associated methods relate to ranging object(s) nearby an aircraft using triangulation of pulses of spatially-patterned light projected upon and reflected by the object(s). The projected pulses provide rapidly-changing illumination of a spatially patterned portion of the scene. A camera receives a reflected portion of the projected pulse and focuses the received portion onto a plurality of light-sensitive pixels, thereby forming a pulse image. The pulse image includes pixel data indicative of a rate of change of light intensity focused thereon exceeding a predetermined threshold. Pixel coordinates, corresponding to a subset of the plurality of light-sensitive pixels that are indicative of the rate of change of light intensity exceeding a predetermined threshold, are identified. Trajectory and/or range data of object(s) in the scene are calculated, based on a projector location, a camera location, and the identified pixel coordinates.
    Type: Application
    Filed: March 6, 2017
    Publication date: September 6, 2018
    Inventors: Todd Anthony Ell, Robert Rutkiewicz, Joseph T. Pesik
  • Patent number: 10043404
    Abstract: Apparatus and associated methods relate to ranging an object nearby an aircraft by triangulation of spatially-patterned light projected upon and reflected from the object. The spatially patterned light can have a wavelength corresponding to infrared light and/or to an atmospheric absorption band. In some embodiments, images of the object are captured both with and without illumination by the spatially-patterned light. A difference between these two images can be used to isolate the spatially-patterned light. The two images can also be used to identify pixel boundaries of the object and to calculate ranges of portions of the object corresponding to pixels imaging these portions. For pixels imaging reflections of the spatially-patterned light, triangulation can be used to calculate range. For pixels not imaging reflections of the spatially-patterned light, ranges can be calculated using one or more of the calculated ranges calculated using triangulation corresponding to nearby pixels.
    Type: Grant
    Filed: December 20, 2016
    Date of Patent: August 7, 2018
    Assignee: Rosemount Aerospace Inc.
    Inventors: Todd Ell, Robert Rutkiewicz, Joseph T. Pesik