David A Caballero DeceasedTucumcari, NM

8532328, Sep 10, 2013

Aug 16, 2007

11/893619

David L. Caballero - Huntington Beach CA, US
Thomas Paul Weismuller - Orange CA, US

The Boeing Company - Chicago IL

G06K 9/00

382100, 382103, 382104, 382199, 382209, 382218, 382279, 382281, 382283, 382325, 701 13, 244 318

A method of navigating a space vehicle. An image of a planet surface is received. The received image is processed to identify edge pixels and angle data. The edge pixels and angle data are used to identify planetary features by shape, size, and spacing relative to other planetary features. At least some of the planetary features are compared with a predefined planet surface description including sizes and locations of planet landmarks. One or more matches are determined between the planetary feature(s) and the planet surface description. Based on the match(es), a location of the space vehicle relative to the planet is determined.

2008028, Nov 20, 2008

May 18, 2007

11/750735

Thomas P. Weismuller - Orange CA, US
David L. Caballero - Huntington Beach CA, US

G06K 9/62

382215

A method and system for increasing the certainty of a silhouette matching process, where the process is being used for attitude determination of an object of interest, for example an aircraft. The method involves using one or more mask images that include structure or features that may or may not always be associated with the object of interest, and overlaying the mask image(s) onto a library image of the aircraft. Each pixel of the library image is compared against corresponding pixels of the mask image(s) to determine which pixels represent ambiguous areas of the library image. Those pixels are eliminated from consideration in determining a Fit score, where the Fit score represents a percentage value indicative of a certainty of the matching process in identifying the attitude of the aircraft. The method and system is applicable to a wide ranging variety of object detection applications.

2008031, Dec 18, 2008

Jun 18, 2007

11/764396

Thomas P. Weismuller - Orange CA, US
David L. Caballero - Huntington Beach CA, US

G06K 9/00

382103

A method and system for optically detecting an object within a field of view where detection is difficult because of background clutter within the field of view that obscures the object. A camera is panned with movement of the object to motion stabilize the object against the background clutter while taking a plurality of image frames of the object. A frame-by-frame analysis is performed to determine variances in the intensity of each pixel, over time, from the collected frames. From this analysis a variance image is constructed that includes an intensity variance value for each pixel. Pixels representing background clutter will typically vary considerably in intensity from frame to frame, while pixels making up the object will vary little or not at all. A binary threshold test is then applied to each variance value and the results are used to construct a final image. The final image may be a black and white image that clearly shows the object as a silhouette.

2020009, Mar 19, 2020

Sep 9, 2019

16/565008

- Chicago IL, US
David L. CABALLERO - Huntington Beach CA, US
Thomas P. WEISMULLER - Orange CA, US

G06T 7/73
G06T 7/215
G06T 7/246
G06K 9/38
G06K 9/20
G06T 7/194
G06T 7/136
G01C 21/36
G06K 9/32

Embodiments herein describe tracking the location and orientation of a target in a digital image. In an embodiment, this tracking can be used to control navigation for a vehicle. In an embodiment, a digital image can be captured by a visual sensor is received. A first array including a plurality of binary values related to the pixel velocity of a first plurality of pixels in the digital image as compared to corresponding pixels in a first one or more prior digital images can be generated. A second array including a plurality of values related to the standard deviation of pixel intensity of the first plurality of pixels in the digital image as compared to corresponding pixels in a second one or more prior digital images can be further generated. A plurality of thresholds relating to the values in the second array can be determined. A plurality of target pixels and a plurality of background pixels can be identified in the digital image, based on the first array, the second array, and the plurality of thresholds. A binary image related to the digital image, based on the identified plurality of target pixels and the identified plurality of background pixels, and identifying at least one of a location and an orientation of the target in the digital image based on the binary image, can be generated. In an embodiment, a command can be transmitted to a navigation system for a vehicle, to assist in navigating the vehicle toward the target, based on the identified at least one of a location and an orientation of the target.

2019019, Jun 27, 2019

Dec 21, 2017

15/850219

- Chicago IL, US
David L. CABALLERO - Huntington Beach CA, US
Thomas P. WEISMULLER - Orange CA, US

G06T 7/73
G06T 7/246
G06K 9/38
G06K 9/20
G06K 9/32
G06T 7/194
G06T 7/136
G01C 21/36

Embodiments herein describe tracking the location and orientation of a target in a digital image. In an embodiment, this tracking can be used to control navigation for a vehicle. In an embodiment, a digital image can be captured by a visual sensor is received. A first array including a plurality of binary values related to the pixel velocity of a first plurality of pixels in the digital image as compared to corresponding pixels in a first one or more prior digital images can be generated. A second array including a plurality of values related to the standard deviation of pixel intensity of the first plurality of pixels in the digital image as compared to corresponding pixels in a second one or more prior digital images can be further generated. A plurality of thresholds relating to the values in the second array can be determined. A plurality of target pixels and a plurality of background pixels can be identified in the digital image, based on the first array, the second array, and the plurality of thresholds. A binary image related to the digital image, based on the identified plurality of target pixels and the identified plurality of background pixels, and identifying at least one of a location and an orientation of the target in the digital image based on the binary image, can be generated. In an embodiment, a command can be transmitted to a navigation system for a vehicle, to assist in navigating the vehicle toward the target, based on the identified at least one of a location and an orientation of the target.

2017002, Jan 26, 2017

Oct 2, 2014

14/504575

- Chicago IL, US
David L. Caballero - Huntington Beach CA, US

G06T 7/00
G06K 9/40
G06K 9/38

A method and apparatus for resolving a set of objects in an image of an area. A partition that captures a set of objects is identified using the image. The partition is comprised of a group of contiguous object pixels. A number of local max pixels are identified from the group of contiguous object pixels in the partition. A quantitative resolution of the set of objects captured in the partition is performed based on the number of local max pixels identified.

2015007, Mar 12, 2015

Sep 12, 2013

14/025266

- Chicago IL, US
David Leonard Caballero - Huntington Beach CA, US

THE BOEING COMPANY - Chicago IL

G06K 9/32

382103, 382199

A computer-implemented method and apparatus for detecting an object of interest. An edge image is generated from an image of a scene. A sectioned structure comprising a plurality of sections is generated for use in analyzing the edge image. The edge image is analyzed using the sectioned structure to detect a presence of the object of interest in the edge image.