US 20150260527A1 (19) United States (12) Patent Application Publication (10) Pub. No.: US 2015/0260527 A1 Fink (43) Pub. Date: Sep. 17, 2015 (54) SYSTEMAND METHOD OF DETERMINING (52) U.S. Cl. A POSITION OF A REMOTE OBJECT VA CPC ...................................... G0IC 2 1/20 (2013.01) ONE ORMORE IMAGE SENSORS (57) ABSTRACT (71) Applicant: Ian Michael Fink, Austin, TX (US) In one or more embodiments, one or more systems, methods (72) Inventor: Ian Michael Fink, Austin, TX (US) and/or processes may determine a location of a remote object (e.g., a point and/or area of interest, landmark, structure that (21) Appl. No.: 14/716,817 “looks interesting, buoy, anchored boat, etc.). For example, the location of a remote object may be determined via a first (22) Filed: May 19, 2015 bearing, at a first location, and a second bearing, at a second O O location, to the remote object. For instance, the first and Related U.S. Application Data second locations can be determined via a position device, (63) Continuation of application No. 13/837,853, filed on Such as a global positioning system device. In one or more Mar. 15, 2013, now Pat. No. 9,074,892. embodiments, the location of the remote object may be based on the first location, the second location, the first bearing, and Publication Classification the second bearing. For example, the location of the remote object may be provided to a user via a map. For instance, (51) Int. Cl. turn-by-turn direction to the location of the remote object GOIC 2L/20 (2006.01) may be provided to the user. Seria interface 54: iviemory Network 52 le59. 1549CAN Processing it AR 341 543 Wireless interface 347 5. Patent Application Publication Sep. 17, 2015 Sheet 1 of 63 US 2015/0260527 A1 Patent Application Publication Sep. 17, 2015 Sheet 2 of 63 US 2015/0260527 A1 s S S S S -3. - - s & Š & & S S s s a axu Y-SS Patent Application Publication Sep. 17, 2015 Sheet 3 of 63 US 2015/0260527 A1 2. FG. 2 (Prior Art) Patent Application Publication Sep. 17, 2015 Sheet 4 of 63 US 2015/0260527 A1 Patent Application Publication Sep. 17, 2015 Sheet 5 of 63 US 2015/0260527 A1 o ress ser s S& Patent Application Publication Sep. 17, 2015 Sheet 6 of 63 US 2015/0260527 A1 --------- 541C S 3. F.G. 5A Patent Application Publication Sep. 17, 2015 Sheet 7 of 63 US 2015/0260527 A1 50 ra F.G. 5B Patent Application Publication Sep. 17, 2015 Sheet 8 of 63 US 2015/0260527 A1 6.30 3. 6. 83. F.G. 6A Patent Application Publication Sep. 17, 2015 Sheet 9 of 63 US 2015/0260527 A1 805 34. 800 83) F.G. 6B Patent Application Publication Sep. 17, 2015 Sheet 10 of 63 US 2015/0260527 A1 SO 34 8): 83 F.G. 6C Patent Application Publication Sep. 17, 2015 Sheet 11 of 63 US 2015/0260527 A1 87) | s F.G. 6D Patent Application Publication Sep. 17, 2015 Sheet 12 of 63 US 2015/0260527 A1 SOGG 63 FIG. 6E Patent Application Publication Sep. 17, 2015 Sheet 13 of 63 US 2015/0260527 A1 S. 8. 8:30 F.G. 6F Patent Application Publication Sep. 17, 2015 Sheet 14 of 63 US 2015/0260527 A1 554, 8 630 F.G. 6G Patent Application Publication Sep. 17, 2015 Sheet 15 of 63 US 2015/0260527 A1 K --- sees were c n D in ser r s res f s t s w Y e ex$8ws Patent Application Publication Sep. 17, 2015 Sheet 16 of 63 US 2015/0260527 A1 g Patent Application Publication Sep. 17, 2015 Sheet 17 of 63 US 2015/0260527 A1 FG, 9A Patent Application Publication Sep. 17, 2015 Sheet 18 of 63 US 2015/0260527 A1 905 s 8: 830 FIG. 9B Patent Application Publication Sep. 17, 2015 Sheet 19 of 63 US 2015/0260527 A1 74 387 6: 63 F.G. 9C Patent Application Publication Sep. 17, 2015 Sheet 20 of 63 US 2015/0260527 A1 83,80 Patent Application Publication Sep. 17, 2015 Sheet 21 of 63 US 2015/0260527 A1 ************************** Patent Application Publication Sep. 17, 2015 Sheet 22 of 63 US 2015/0260527 A1 39489Œ Patent Application Publication Sep. 17, 2015 Sheet 23 of 63 US 2015/0260527 A1 8vice ( Network Network Memory 332 interface interface fiemory 39 303 WireeSS OS APP 1302 terface 33 303 3. AP APP Wireless 3O32 333 interface Processor 300 Usef Data 3035 Patent Application Publication Sep. 17, 2015 Sheet 24 of 63 US 2015/0260527 A1 Device vestory iO2 Memory Network inefaceifeless OS APP 14021 140go 4. 43 i33 Weess interface Processing Unit 4}{ AR 3. Memory 52 Device C2 OS APP interface 53 33 59 GPO :54, ARP APP 532 5:33 Nieless inteface APP Processing rit ata 5. 50 338 S&ria interface 520 Position UART | UART || |2C 2C spy SP USB use Device 58 38 5 570 58 560 53 15:50 8 530 F.G. 15 Patent Application Publication Sep. 17, 2015 Sheet 25 of 63 US 2015/0260527 A1 Memory 32 Memory Network OS APP 82 terface GPO 603 SO3. 3. 8): APP APP 18032 16033 Wireless As Processing init interface Data 60 8:0 8038 Seis interface 16210 AR Air 2C C 168 168 67 807 Memory 17.2 CS AP 73 3. A P reless intefface AigiQ int Device 737, F.G. 17 Patent Application Publication Sep. 17, 2015 Sheet 26 of 63 US 2015/0260527 A1 Position avia 53 Ser3 inte-face \leinery 542 Memory AC Network 34 OS APP 132 158. interface CAN S. 543 531 1549 1549 546 App APP Processing it UART USB 54 5480 S450 2C Cock Wietess interiaice 54 5498 5:00 F.G. 18A Position evice 53 After a 15495 Setia tefface Memory 1542 Memory AC Niewick Said APP 542 594 interface 1549 Processing init 5: Cock Wireless interface 15498. 50 F.G. 18B Patent Application Publication Sep. 17, 2015 Sheet 27 of 63 US 2015/0260527 A1 Afteira 54.87 Network interface Processing init 5. interface 33 Processing Unit 9 Wireless Gyroscope 953 ACCseeiO:lete 954 Bearing Device S F.G. 19 Patent Application Publication Sep. 17, 2015 Sheet 28 of 63 US 2015/0260527 A1 FG. 20 Patent Application Publication Sep. 17, 2015 Sheet 29 of 63 US 2015/0260527 A1 Pief Source 236 Power Supply 2284 Powe Sippy 2232 Weess Powe: Pier reass Poeis a Regulatof SOLFCe w O Tasite Receiver Secrea--- 228. | 22820 228. Device 24 Device 232 Power Source Power Suppy Power Source 28 258). 2361 FG. 25 Power Sippy 268: Wireless Poyer Y r Receivef va WieaSS Pow8 Regulator 2866 raisitar Device 283 Patent Application Publication Sep. 17, 2015 Sheet 30 of 63 US 2015/0260527 A1 27. 273 - F.G. 27B FG.27C Patent Application Publication Sep. 17, 2015 Sheet 31 of 63 US 2015/0260527 A1 Determine a position: 230t Determine a first bearing Deterania, utilizing the to an object second bearing a second Compute a vectof based 290 w8cc that is nosta to On the deternin88 the origin, he titject, and position the second position 282 296 Detentire a first position 29) F.G. 28A Date:re a thic w8to that is oria to the first Betermine, stizing the vec{0} and the second firs: bearing, a first vector Wector that is no inal to an oxigin, 29 the object, and the first position 233. Deter nine a position 285 Determine a position of the object 298 Deesilise 3 secois Alier a vectof easing to the Ciject corresponding to and of 294, 3SSociated with tie positio: 23.8 Deefalise a secord gosition 2335) Corpute a vector northa to e.g., perpendictatio} the position 3rd the FIG. 29 aefed Westf 23. FG. 28B Patent Application Publication Sep. 17, 2015 Sheet 32 of 63 US 2015/0260527 A1 82. 82. 3}{ 3. 8 800 8 8. F.G. 30A Patent Application Publication Sep. 17, 2015 Sheet 33 of 63 US 2015/0260527 A1 320 35 62 8. 6 SO F.G. 3OB Patent Application Publication Sep. 17, 2015 Sheet 34 of 63 US 2015/0260527 A1 Si. 3.05 32 623 35 St. FIG. 30C Patent Application Publication Sep. 17, 2015 Sheet 35 of 63 US 2015/0260527 A1 F.G. 31A Patent Application Publication Sep. 17, 2015 Sheet 36 of 63 US 2015/0260527 A1 FG. 31B Patent Application Publication Sep. 17, 2015 Sheet 37 of 63 US 2015/0260527 A1 FIG. 31C Patent Application Publication Sep. 17, 2015 Sheet 38 of 63 US 2015/0260527 A1 6220 SSSSSSsaxxx xxxxxs SSSSSSSSSSSS SSS SSSSSSSSSSSSSSSSS sys-xx-x-xxx-xx-xxxSSSSSSSSSSSSSS S&S a SSSSSSSSS SSSSSSSS SSSSSS$$$$.& SSSSSSSSSS SSSSSSSSS 3-SSSSSSSS SSSSSF s S SS SSSSSS SSSSSSS SS s & SSSSS S&S S SSSSS -SSSSS3SSSSSSSSSS-SSSSSSSSSSSSSS & SSS SSSSSSSSSSS S&& SSS SSSSSSSSSSSSSSSSSSSS S&SSSSSSSSSSSSSS & SS SSS 3&s SS SS SSS SSSSSSSSSSSSSXSSSSSSXSSSSSS S sšŠSSSS SS X SSSSSSSSSSSSSS S $$$$$$$$. 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