Description:TECHNICAL FIELD
The present disclosure relates generally to geographical surveys. More particularly, the present disclosure relates to a system, an apparatus, and a method for corridor survey.
BACKGROUND
Surveillance systems conduct surveys of a desired geographical region for a variety of reasons such as monitoring of behavior, detection of activities, gathering information to perform one or more actions, and the like. A variety of surveys exist today such as polygon survey, circular survey, and the like. The type of survey is dependent on an application of the survey system.
Applications such as road survey, pipelines (gas, water) survey, and the like require a precise selection of an area to be surveyed with a capability of accurate detection of the turns of the roads or the pipelines. Polygon survey or circular surveys fail to perform efficiently in such applications as the accuracy of the selection of area for survey is not optimally selected by a polygon or circular shape. Thus, such survey systems do not efficiently utilize resources available with the system and result in enormous amount of irrelevant data captured by the system to cover the desired area.
Thus, there is a need for an automated system, an apparatus, and a method for accurate and precise determination of a corridor for survey that efficiently utilize the available resources and result in least amount of irrelevant data captured by the system to cover the desired area, and thus demands a need for improvised technical solution that overcomes the aforementioned problems.
SUMMARY
In an aspect of the present disclosure, a data processing apparatus includes a processing circuitry. The processing circuitry is configured to determine a heading of a path line from at least one waypoint of a plurality of waypoints () towards another waypoint of the plurality of waypoints. The processing circuitry is further configured to identify one or more waypoint on the path line at one or more instances where a change in the heading is detected. Furthermore, the processing circuitry is configured to identify, from the plurality of waypoints and the identified one or more waypoints, one or more pairs of adjacent waypoints. Furthermore, the processing circuitry is configured to identify a path line segment between each pair of adjacent waypoints. Furthermore, the processing circuitry is configured to determine an angle between each pair of adjacent path line segments. Furthermore, the processing circuitry is configured to determine, based on the path line, a width, and the angle between each pair of adjacent path line segments, a set of boundary waypoints that corresponds to each waypoint of the plurality of waypoints and the identified one or more waypoints. Furthermore, the processing circuitry is configured to generate a bounding box by connecting each boundary waypoint of the set of boundary waypoints to at least 2 adjacent waypoints that are selected from the set of boundary waypoints and the plurality of waypoints.
In some aspects, the plurality of waypoints includes an initial waypoint and a final waypoint.
In some aspects, prior to the determination of the heading of the path line, the processing circuitry is configured to receive a set of inputs from a user device for selection of the path line, the width, and the plurality of waypoints.
In some aspects, the processing circuitry is further configured to receive, from the user device (), one or more parameters associated with an imaging unit, and determine a footprint width of the imaging unit based on the one or more parameters.
In some aspects, the processing circuitry is further configured to determine a corridor width based on the width and an offset width.
In some aspects, when the corridor width is greater than the footprint width, the processing circuitry is configured to determine a set of internal waypoints based on the path line, the corridor width, and the angle between each pair of adjacent path line segments. Further, the processing circuitry is configured to determine one or more internal lines by connecting each internal waypoint of the set of internal waypoints to at least 2 adjacent internal waypoints based on the heading of the path line such that a width between each internal line of the one or more internal lines is less than or equal to the footprint width.
In some aspects, the processing circuitry is further configured to receive, from the imaging unit, a plurality of images captured along the internal lines, and combine the plurality of images captured along the internal lines to generate a corridor map.
In some aspects, the processing circuitry is further configured to identify a pair of boundary lines of the bounding box by connecting at least 2 adjacent waypoints that are selected from the set of boundary waypoints.
In some aspects, when the corridor width is less than the footprint width, the processing circuitry is configured to receive, from the imaging unit, a plurality of images captured along each boundary line of the pair of boundary lines and the path line. The processing circuitry is further configured to combine the plurality of images captured along each boundary line of the pair of boundary lines and the path line to generate a corridor map.
In another aspect of the present disclosure, a system includes a user device and a processing circuitry. The user device is configured to receive a set of inputs from a user for selection of a path line, a width, and a plurality of waypoints on the path line. The processing circuitry is configured to determine a heading of the path line from at least one waypoint of the plurality of waypoints towards another waypoint of the plurality of waypoints. The processing circuitry is further configured to identify one or more waypoint on the path line at one or more instances where a change in the heading is detected. Furthermore, the processing circuitry is configured to identify, from the plurality of waypoints and the identified one or more waypoints, one or more pairs of adjacent waypoints. Furthermore, the processing circuitry is configured to identify a path line segment between each pair of adjacent waypoints. Furthermore, the processing circuitry is configured to determine an angle between each pair of adjacent path line segments. Furthermore, the processing circuitry is configured to determine, based on the path line, a width, and the angle between each pair of adjacent path line segments, a set of boundary waypoints that corresponds to each waypoint of the plurality of waypoints and the identified one or more waypoints. Furthermore, the processing circuitry is configured to generate a bounding box by connecting each boundary waypoint of the set of boundary waypoints to at least 2 adjacent waypoints that are selected from the set of boundary waypoints and the plurality of waypoints.
In some other aspect of the present disclosure, a method includes receiving, by way of a user device, a set of inputs from the user for selection of a path line, a width, a plurality of waypoints on the path line such that, wherein the plurality of waypoints comprising an initial waypoint and a final waypoint. The method further includes determining, by way of processing circuitry, a heading of the path line from at least one waypoint of the plurality of waypoints towards another waypoint of the plurality of waypoints. Furthermore, the method includes identifying, by way of the processing circuitry, one or more waypoint on the path line at one or more instances where a change in the heading is detected. Furthermore, the method includes identifying, by way of the processing circuitry, one or more pairs of adjacent waypoints from the plurality of waypoints and the identified one or more waypoints. Furthermore, the method includes identifying, by way of the processing circuitry, a path line segment between each pair of adjacent waypoints. Furthermore, the method includes determining, by way of the processing circuitry, an angle between each adjacent pair of path line segments. Furthermore, the method includes determining, by way of the processing circuitry, a set of boundary waypoints that corresponds to each waypoint of the plurality of waypoints and the identified one or more waypoints, based on the path line, a width, and the angle between each adjacent pair of path line segments. Furthermore, the method includes generating, by way of the processing circuitry, a bounding box by connecting each boundary waypoint of the set of boundary waypoints to at least 2 adjacent waypoints that are selected from the set of boundary waypoints and the plurality of waypoints. Furthermore, the method includes receiving, by way of the processing circuitry, one or more parameters associated with an imaging unit from the user device. Furthermore, the method includes determining, by way of the processing circuitry, a footprint width of the imaging unit based on the one or more parameters. Furthermore, the method includes identifying, by way of the processing circuitry, a pair of boundary lines by connecting at least 2 adjacent waypoints that are selected from the set of boundary waypoints. Furthermore, the method includes determining, by way of the processing circuitry, a corridor width based on the width and an offset width.
BRIEF DESCRIPTION OF DRAWINGS
The above and still further features and advantages of aspects of the present disclosure becomes apparent upon consideration of the following detailed description of aspects thereof, especially when taken in conjunction with the accompanying drawings, and wherein:
FIG. 1 illustrates a block diagram of a system for corridor survey, in accordance with an exemplary aspect of the present disclosure;
FIG. 2 illustrates a block diagram of a server of FIG. 1, in accordance with an exemplary aspect of the present disclosure;
FIG. 3 illustrates a schematic representation of a corridor plan for determination of an angle between each adjacent pair of path line segments, according to an exemplary aspect of the present disclosure;
FIG. 4 illustrates a schematic representation of a corridor map, in an exemplary aspect of the present disclosure;
FIG. 5 illustrates a schematic representation of a corridor map, in another exemplary aspect of the present disclosure; and
FIG. 6 illustrates a flow chart of a method for corridor survey, in accordance with an exemplary aspect of the present disclosure.
To facilitate understanding, like reference numerals have been used, where possible, to designate like elements common to the figures.
DETAILED DESCRIPTION
Various aspect of the present disclosure provides a system, an apparatus, and a method for corridor survey. The following description provides specific details of certain aspects of the disclosure illustrated in the drawings to provide a thorough understanding of those aspects. It should be recognized, however, that the present disclosure can be reflected in additional aspects and the disclosure may be practiced without some of the details in the following description.
The various aspects including the example aspects are now described more fully with reference to the accompanying drawings, in which the various aspects of the disclosure are shown. The disclosure may, however, be embodied in different forms and should not be construed as limited to the aspects set forth herein. Rather, these aspects are provided so that this disclosure is thorough and complete, and fully conveys the scope of the disclosure to those skilled in the art. In the drawings, the sizes of components may be exaggerated for clarity.
It is understood that when an element is referred to as being “on,” “connected to,” or “coupled to” another element, it can be directly on, connected to, or coupled to the other element or intervening elements that may be present. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items.
The subject matter of example aspects, as disclosed herein, is described with specificity to meet statutory requirements. However, the description itself is not intended to limit the scope of this patent. Rather, the inventor/inventors have contemplated that the claimed subject matter might also be embodied in other ways, to include different features or combinations of features similar to the ones described in this document, in conjunction with other technologies. Generally, the various aspects including the example aspects relate to the system, and the method for the transportation of the load.
As mentioned, there is a need for an automated system, an apparatus, and a method for accurate and precise determination of a corridor for survey that efficiently utilize the available resources and result in least amount of irrelevant data captured by the system to cover the desired area. The present aspects, therefore: provides a system 100 an apparatus 104, and a method 300 that provides an improvised technical solution that overcomes the aforementioned problems.
The aspects herein and the various features and advantageous details thereof are explained more fully with reference to the non-limiting aspects that are illustrated in the accompanying drawings and detailed in the following description. Descriptions of well-known components and processing techniques are omitted so as to not unnecessarily obscure the aspects herein. The examples used herein are intended merely to facilitate an understanding of ways in which the aspects herein may be practiced and to further enable those of skill in the art to practice the aspects herein. Accordingly, the examples should not be construed as limiting the scope of the aspects herein.
FIG. 1 illustrates a block diagram of the system 100 for corridor survey, in accordance with an exemplary aspect of the present disclosure. The system 100 may include a user device 102, a data processing apparatus 104, and an imaging unit 106. In some aspects of the present disclosure, the user device 102 and the imaging unit 106 may be communicatively coupled to the data processing apparatus 104 by way of either of, a first wired communication medium and a first wireless communication medium. In some aspects of the present disclosure, the user device 102, the data processing apparatus 104 and the imaging unit 106 may be communicatively coupled to each other by way of a communication network 108.
The user device 102 may be configured to enable a user to submit a set of inputs for selection of a path line (shown as 301 later in FIG. 3), the width (shown as ‘w’ in FIG. 3), and the plurality of waypoints (shown as 303 in FIG. 3). In some aspects of the present disclosure, the plurality of waypoints 303 may include an initial waypoint (shown as 303a in FIG. 3) and a final waypoint (shown as 303b in FIG. 3). The user device 102 may further be configured to enable the user to select and/or input one or more parameters associated with the imaging unit 106. In some aspects of the present disclosure, the user device 102 may be configured to facilitate the user to provide input(s) to register on the system 100. Furthermore, the user device 102 may facilitate the user to enable a password protection for logging-in (i.e., user authentication) to the system 100.
In an exemplary aspect of the present disclosure, the user device 102 may include a first user interface 110, a first processing unit 112, a first memory 114, a corridor console 116, and a first communication interface 118.
The first user interface 110 may include a first input interface (not shown) for receiving inputs from the user. In some aspects of the present disclosure, the first input interface may be configured to enable the user to submit the set of inputs for selection of the path line 301, the width ‘w’, and the plurality of waypoints 303. The first input interface may further be configured to enable the user to select and/or input the one or more parameters associated with the imaging unit 106. Furthermore, the first input interface may be configured to enable the user to select and/or provide inputs for registration and/or authentication of the user to use one or more functionalities of the system 100. In some aspects of the present disclosure, the first input interface may be configured to enable the user to provide inputs to enable password protection for logging-in to the system 100. Examples of the first input interface may include, but are not limited to, a touch interface, a mouse, a keyboard, a motion recognition unit, a gesture recognition unit, a voice recognition unit, or the like. Aspects of the present disclosure are intended to include or otherwise cover any type of the first input interface including known, related art, and/or later developed technologies. The first user interface 110 may further include a first output interface (not shown) for displaying (or presenting) an output to the user. In some aspects of the present disclosure, the first output interface may be configured to display or present either of, a corridor map or a corridor plan generated by the system 100 to the user. Examples of the first output interface may include, but are not limited to, a digital display, an analog display, a touch screen display, a graphical user interface, a website, a webpage, a keyboard, a mouse, a light pen, an appearance of a desktop, and/or illuminated characters. Aspects of the present disclosure are intended to include and/or otherwise cover any type of the first output interface including known and/or related, or later developed technologies.
The first processing unit 112 may include suitable logic, instructions, circuitry, interfaces, and/or codes for executing various operations, such as the operations associated with the user device 102, or the like. In some aspects of the present disclosure, the first processing unit 112 may utilize one or more processors such as Arduino or raspberry pi or the like. Further, the first processing unit 112 may be configured to control one or more operations executed by the user device 102 in response to the input received at the first user interface 110 from the user. Examples of the first processing unit 112 may include, but are not limited to, an application-specific integrated circuit (ASIC) processor, a reduced instruction set computing (RISC) processor, a complex instruction set computing (CISC) processor, a field-programmable gate array (FPGA), a Programmable Logic Control unit (PLC), and the like. Aspects of the present disclosure are intended to include or otherwise cover any type of first processing unit 112 including known, related art, and/or later developed processing units.
The first memory 114 may be configured to store the logic, instructions, circuitry, interfaces, and/or codes of the first processing unit 112, data associated with the user device 102, and/or data associated with the system 100. In some aspects of the present disclosure, the first memory 114 may be configured to store a variety of inputs received from the user. Examples of the first memory 114 may include, but are not limited to, a Read-Only Memory (ROM), a Random-Access Memory (RAM), a flash memory, a removable storage drive, a hard disk drive (HDD), a solid-state memory, a magnetic storage drive, a Programmable Read Only Memory (PROM), an Erasable PROM (EPROM), and/or an Electrically EPROM (EEPROM). Aspects of the present disclosure are intended to include or otherwise cover any type of first memory 114 including known, related art, and/or later developed memories.
The corridor console 116 may be configured as a computer-executable application, to be executed by the first processing unit 112. The corridor console 116 may include suitable logic, instructions, and/or codes for executing various operations and may be controlled by the data processing apparatus 104. The one or more computer executable applications may be stored in the first memory 114. Examples of the one or more computer executable applications may include, but are not limited to, an audio application, a video application, a social media application, a navigation application, or the like. Aspects of the present disclosure are intended to include or otherwise cover any type of the computer executable application including known, related art, and/or later developed computer executable applications.
The first communication interface 118 may be configured to enable the user device 102 to communicate with the data processing apparatus 104 and the imaging unit 106 via the data processing apparatus 104. Examples of the first communication interface 118 may include, but are not limited to, a modem, a network interface such as an Ethernet card, a communication port, and/or a Personal Computer Memory Card International Association (PCMCIA) slot and card, an antenna, a radio frequency (RF) transceiver, one or more amplifiers, a tuner, one or more oscillators, a digital signal processor, a coder-decoder (CODEC) chipset, a subscriber identity module (SIM) card, and a local buffer circuit. It will be apparent to a person of ordinary skill in the art that the first communication interface 118 may include any device and/or apparatus capable of providing wireless or wired communications between the user device 102, the data processing apparatus 104 and the imaging unit 106.
The data processing apparatus 104 may be a network of computers, a software framework, or a combination thereof, that may provide a generalized approach to create the server implementation. Examples of the data processing apparatus 104 may include, but are not limited to, personal computers, laptops, mini-computers, mainframe computers, any non-transient and tangible machine that can execute a machine-readable code, cloud-based servers, distributed server networks, or a network of computer systems. The data processing apparatus 104 may be realized through various web-based technologies such as, but not limited to, a Java web-framework, a .NET framework, a personal home page (PHP) framework, or any web-application framework. The data processing apparatus 104 may include processing circuitry 120 and one or more memory units (hereinafter, collectively referred to and designated as “Database 122”).
In some aspects of the present disclosure, the processing circuitry 120 may include suitable logic, instructions, circuitry, interfaces, and/or codes for executing various operations of the system 100. The processing circuitry 120 may be configured to host and enable the corridor console 112 running on (or installed on) the user device 102 to execute the operations associated with the system 100 by communicating one or more commands and/or instructions over the communication network 108.
The processing circuitry 120 may be configured to determine a heading of the path line 301 from at least one waypoint of a plurality of waypoints 303 towards another waypoint of the plurality of waypoints 303. In some aspects of the present disclosure, prior to the determination of the heading of the path line 301, the processing circuitry 120 may be configured to receive the set of inputs from the user device 102 for selection of the path line 301, the width ‘w’, and the plurality of waypoints 303. In some aspects of the present disclosure, to determine the heading of the path line 301, the processing circuitry 120 may be configured to determine a direction of the path line 130 from the initial waypoint 303a to the final waypoint 303b on the path line 301 based on numerical values of longitude and numerical values of latitude of the plurality of waypoints 303.
The processing circuitry 120 may further be configured to identify one or more waypoint (shown as 305 in FIG. 3) on the path line 303 at one or more instances where a change in the heading is detected. In some aspects of the present disclosure, the one or more waypoints 305 that are identified by the processing circuitry 120 may be intermediate waypoints on the path line 301 between the plurality of waypoint 303.
Furthermore, the processing circuitry 120 may be configured to identify, from the plurality of waypoints 303 and the identified one or more waypoints 305, one or more pairs of adjacent waypoints on the path line 301.
Furthermore, the processing circuitry 120 may be configured to identify a path line segment between each pair of adjacent waypoints on the path line 301 identified by the processing circuitry 120. For example, the processing circuitry 120 may be configured to determine a path line segment between the initial waypoint 303a and the one or more waypoints 305, and another path line segment between the one or more waypoints 305 and the final waypoint 303b. Furthermore, the processing circuitry 120 may be configured to determine an angle (shown as ‘?’ in FIG. 3) between each pair of adjacent path line segments.
Furthermore, the processing circuitry 120 may be configured to determine, based on the path line 301, the width ‘w’, and the angle ‘?’ between each pair of adjacent path line segments, a set of boundary waypoints (shown as 302aa, 302ac, 302ba, and 302bc in FIG. 3) that corresponds to each waypoint of the plurality of waypoints 303 and the identified one or more waypoints 305. In some aspects of the present disclosure, the set of boundary waypoints may include an initial left boundary waypoint 303aa that may be at a distance of width/2 (i.e., ‘w/2’) and a heading of 90 degrees from the initial waypoint 303a. The set of boundary waypoints may further include an initial right boundary waypoint 303ba that may be at a distance of width/2 (i.e., ‘w/2’) a heading of 270 degrees from the initial waypoint 303a. Furthermore, the set of boundary waypoints may include a final left boundary waypoint 303ac that may be at a distance of width/2 (i.e., ‘w/2’) a heading of 90 degrees from the final waypoint 303b. Furthermore, the set of boundary waypoints may include a final right boundary waypoint 303bc that may be at a distance of width/2 (i.e., ‘w/2’) a heading of 270 degrees from the final waypoint 303b.
In some aspects of the present disclosure, the processing circuitry 120 may further be configured to identify one or more intermediate boundary waypoints (i.e., a left intermediate boundary waypoint shown as 302ab in FIG. 3 and a right intermediate boundary waypoint shown as 302bb in FIG. 3) based on the width ‘w’, and the angle ‘?’ between each pair of adjacent path line segments, and the set of boundary waypoints (302aa, 302ac, 302ba, and 302bc).
Furthermore, the processing circuitry 120 may be configured to generate a bounding box by connecting each boundary waypoint of the set of boundary waypoints (302aa, 302ac, 302ba, and 302bc) to at least 2 adjacent waypoints that are selected from the set of boundary waypoints (302aa, 302ac, 302ba, and 302bc) and the plurality of waypoints 303. In some aspects of the present disclosure, the bounding box may define a boundary of an area for corridor plan of the system 100. In some aspects of the present disclosure, the processing circuitry 120 may be further be configured to identify a pair of boundary lines 304 of the bounding box by connecting at least 2 adjacent waypoint pairs that are selected from the set of boundary waypoints (302aa, 302ac, 302ba, and 302bc).
In some aspects of the present disclosure, the processing circuitry 120 may be configured to receive, from the user device 102, one or more parameters associated with an imaging unit 106. The processing circuitry 120 may further be configured to determine a footprint width of the imaging unit 106 based on the one or more parameters associated with the imaging unit 106. In some other aspects of the present disclosure, the processing circuitry 120 may be configured to determine an image footprint of one or more sensors of the imaging device. In an exemplary aspect of the present disclosure, the footprint may include the footprint width and a footprint height. In some aspects of the present disclosure, the processing circuitry 120 may be configured to determine the image footprint based on one or more configuration parameters of the imaging unit 106. Examples of the one or more configuration parameters of the imaging unit 106 may include but not limited to details of a sensor width, a sensor height, a sensor Focal length, a sensor Altitude, a sensor Gimbal pitch, a sensor Gimbal yaw, and the like. Aspects of the present disclosure are intended to include or otherwise cover any type of configuration parameters including known, related art, and/or related to later developed technologies.
In some aspects of the present disclosure, the processing circuitry 120 may be configured to determine a corridor width based on the width ‘w’ and an offset width. In some aspects of the present disclosure, the processing circuitry 120 may be configured to compare the corridor width with the footprint width.
In some aspects of the present disclosure, when the corridor width is greater than the footprint width, the processing circuitry 120 may be configured to determine a set of internal waypoints (shown as 402 in FIG. 4) based on the path line 301, the corridor width, and the angle ‘?’ between each pair of adjacent path line segments. Furthermore, the processing circuitry 120 may be configured to determine one or more internal lines (shown as 404 in FIG. 4) by connecting each internal waypoint of the set of internal waypoints 402 to at least 2 adjacent internal waypoints based on the heading of the path line 301 such that a width between each internal line of the one or more internal lines is less than or equal to the footprint width. In some aspects of the present disclosure, the processing circuitry 120 may further be configured to receive, from the imaging unit 106, a plurality of images captured along the one or more internal lines 404. The processing circuitry 120 may further be configured to combine the plurality of images captured along the one or more internal lines 404 to generate a corridor map 400.
In other aspects of the present disclosure, when the corridor width is less than the footprint width, the processing circuitry 120 may be configured to receive, from the imaging unit 106, a plurality of images captured along each boundary line of the pair of boundary lines 304 and the path line 301. The processing circuitry 120 may further be configured to combine the plurality of images captured along each boundary line of the pair of boundary lines 304 and the path line 301 to generate a corridor map 500.
The database 122 may be configured to store the logic, instructions, circuitry, interfaces, and/or codes of the processing circuitry 120 for executing a number of operations. The database 122 may be further configured to store therein, data associated with users registered with the system 100. Some aspects of the present disclosure are intended to include and/or otherwise cover any type of the data associated with the users registered with the system 100. Examples of the database 122 may include but are not limited to, a ROM, a RAM, a flash memory, a removable storage drive, a HDD, a solid-state memory, a magnetic storage drive, a PROM, an EPROM, and/or an EEPROM. In some aspects of the present disclosure, the database 122 may be configured to store one or more of, user data, instructions data, corridor maps, one or more configuration parameters of the imaging unit 106, and the like corresponding to the system 100.
The imaging unit 106 may be configured to move on the corridor map(s) generated by the processing circuitry 120. The imaging unit 106 may further be configured to capture the plurality of images following the corridor map(s) generated by the processing circuitry 120.
In an exemplary aspect of the present disclosure, the imaging unit 106 may include an aviation unit 124, a power supply 126, a sensing unit 128, a second processing unit 130, a second memory 132, and a second communication interface 134. In some aspects of the present disclosure, various components of the imaging unit 106 may be coupled to each other by way of one or more wired or wireless communication mediums (not shown).
In an exemplary aspect of the present disclosure, the aviation unit 124 may include one or more propellors (not shown), one or more motors (not shown) coupled to the one or more propellors, and an aviation control unit (not shown) coupled to the one or more motors and configured to control a rotational speed of each motor of the one or more motors. The power supply 126 may be coupled to various components of the imaging unit (i.e., the aviation unit 124, the sensing unit 128, the second processing unit 130, the second memory unit 132, and the second communication interface 134), and may be configured to provide electrical energy to the various components of the imaging unit 106. The sensing unit 128 may include one or more camera sensors (not shown) configured to capture the plurality of images of the corridor map(s). Examples of the one or more camera sensors of the sensing unit 128 may include but not limited to, a stationary camera, a Pan-Tilt-Zoom (PTZ) camera, a depth sensing camera pair, and the like. Aspects of the present disclosure are intended to include or otherwise cover any type of camera sensor including known, related art, and/or later developed camera sensors.
The second processing unit 130 may include suitable logic, instructions, circuitry, interfaces, and/or codes for executing various operations, such as the operations associated with the imaging unit 106, or the like. In some aspects of the present disclosure, the second processing unit 130 may utilize one or more processors such as Arduino or raspberry pi or the like. Further, the second processing unit 130 may be configured to control one or more operations executed by the imaging unit 106 in response to the input received at the second user interface 134 from the data processing apparatus 104. In some aspects of the present disclosure, the second processing unit 130 may be configured to combine the plurality of images captured by the one or more camera sensors to generate a cumulative plan of the corridor map(s). Examples of the second processing unit 130 may include, but are not limited to, an application-specific integrated circuit (ASIC) processor, a reduced instruction set computing (RISC) processor, a complex instruction set computing (CISC) processor, a field-programmable gate array (FPGA), a Programmable Logic Control unit (PLC), and the like. Aspects of the present disclosure are intended to include or otherwise cover any type of second processing unit 130 including known, related art, and/or later developed processing units.
The second memory 132 may be configured to store the logic, instructions, circuitry, interfaces, and/or codes of the second processing unit 130, data associated with the imaging unit 106, and/or data associated with the system 100. In some aspects of the present disclosure, the second memory 132 may be configured to store a variety of inputs received from the data processing apparatus 104. Examples of the second memory 132 may include, but are not limited to, a Read-Only Memory (ROM), a Random-Access Memory (RAM), a flash memory, a removable storage drive, a hard disk drive (HDD), a solid-state memory, a magnetic storage drive, a Programmable Read Only Memory (PROM), an Erasable PROM (EPROM), and/or an Electrically EPROM (EEPROM). Aspects of the present disclosure are intended to include or otherwise cover any type of second memory 132 including known, related art, and/or later developed memories.
The second communication interface 134 may be configured to enable the imaging unit 106 to communicate with the data processing apparatus 104 and the user device 102 via the data processing apparatus 104. Examples of the second communication interface 134 may include, but are not limited to, a modem, a network interface such as an Ethernet card, a communication port, and/or a Personal Computer Memory Card International Association (PCMCIA) slot and card, an antenna, a radio frequency (RF) transceiver, one or more amplifiers, a tuner, one or more oscillators, a digital signal processor, a coder-decoder (CODEC) chipset, a subscriber identity module (SIM) card, and a local buffer circuit. It will be apparent to a person of ordinary skill in the art that the second communication interface 134 may include any device and/or apparatus capable of providing wireless or wired communications between the data processing apparatus 104 and the imaging unit 106.
The communication network 108 may include suitable logic, circuitry, and interfaces that may be configured to provide a number of network ports and a number of communication channels for transmission and reception of data related to operations of various entities (such as the user device 102, the data processing apparatus 104, and the imaging unit 106) of the system 100. Each network port may correspond to a virtual address (or a physical machine address) for transmission and reception of the communication data. For example, the virtual address may be an Internet Protocol Version 4 (IPV4) (or an IPV6 address) and the physical address may be a Media Access Control (MAC) address. The communication network 108 may be associated with an application layer for implementation of communication protocols based on one or more communication requests from the user device 102, the data processing apparatus 104, and the imaging unit 106. The communication data may be transmitted or received, via the communication protocols. Examples of the communication protocols may include, but are not limited to, Hypertext Transfer Protocol (HTTP), File Transfer Protocol (FTP), Simple Mail Transfer Protocol (SMTP), Domain Network System (DNS) protocol, Common Management Interface Protocol (CMIP), Transmission Control Protocol and Internet Protocol (TCP/IP), User Datagram Protocol (UDP), Long Term Evolution (LTE) communication protocols, or any combination thereof.
In some aspects of the present disclosure, the communication data may be transmitted or received via at least one communication channel of a number of communication channels in the communication network 108. The communication channels may include, but are not limited to, a wireless channel, a wired channel, a combination of wireless and wired channel thereof. The wireless or wired channel may be associated with a data standard which may be defined by one of a Local Area Network (LAN), a Personal Area Network (PAN), a Wireless Local Area Network (WLAN), a Wireless Sensor Network (WSN), Wireless Area Network (WAN), Wireless Wide Area Network (WWAN), a metropolitan area network (MAN), a satellite network, the Internet, an optical fiber network, a coaxial cable network, an infrared (IR) network, a radio frequency (RF) network, and a combination thereof. Aspects of the present disclosure are intended to include or otherwise cover any type of communication channel, including known, related art, and/or later developed technologies.
FIG. 2 is a block diagram that illustrates the data processing apparatus 104 of FIG. 1, in accordance with an exemplary aspect of the present disclosure. The data processing apparatus 104 may include the processing circuitry 120 and the database 122. The data processing apparatus 104 may further include a network interface 200 and an input/output (I/O) interface 202. The processing circuitry 120, the database 122, the network interface 200, and the input/output (I/O) interface 202 may be configured to communicate with each other by way of a first communication bus 203.
In an exemplary aspect of the present disclosure, the processing circuitry 120 may include a data exchange engine 204, a registration engine 206, an authentication engine 208, a waypoint engine 210, an angle determination engine 212, a boundary detection engine 214, a footprint engine 216, an offset width engine 218, a trajectory identification engine 220, a map generation engine 222, and a notification engine 224 communicatively coupled to each other by way of a second communication bus 226. It will be apparent to a person having ordinary skill in the art that the data processing apparatus 104 is for illustrative purposes and not limited to any specific combination of hardware circuitry and/or software.
The data exchange engine 204 may be configured to enable transfer of data from the database 160 to various engines of the processing circuitry 158. The data exchange engine 204 may further be configured to enable transfer of data and/or instructions from the user device 102 and/or the imaging unit 106 to the data processing apparatus 104.
The registration engine 206 may be configured to enable the user to register into the system 100 by providing registration data through a registration menu (not shown) of the corridor console 112 that may be displayed by way of the user device 102.
The authentication engine 208 by way of the data exchange engine 204 may be configured to fetch the registration data of the user and authenticate the registration data of the user. The authentication engine 208, upon successful authentication of the registration data of the user, may be configured to enable the user to log-in or sign up to the system 100. In some aspects of the present disclosure, the authentication engine 208 may enable the user to set the password protection for logging-in to the system 100. In such a scenario, the authentication engine 208 may be configured to verify a password entered by the user for logging-in to the system 100 by comparing the password entered by the user with the set password protection. In some aspects, when the password entered by the user is verified by the authentication engine 208, the authentication engine 208 may enable the user to log-in to the system 100. In some other aspects of the present disclosure, when the password entered by the user is not verified by the authentication engine 208, the authentication engine 208 may generate a signal for the notification engine 224 to generate a login failure notification for the user.
The waypoint engine 210 may be configured to identify the one or more waypoints 305 on the path line 301. In some aspects of the present disclosure, the waypoint engine 210 may be configured to determine the direction of the path line 130 from the initial waypoint 303a to the final waypoint 303b on the path line 301 based on the numerical values of longitude and numerical values of latitude of the plurality of waypoints 303. The waypoint engine 210 may further be configured to identify the one or more instances of change in heading based on the direction of the path line 301. Furthermore, the waypoint engine 210 may be configured to identify the one or more waypoint 305 on the path line 303 at the one or more instances where a change in the heading is detected.
The waypoint engine 210 may further be configured to identify, from the plurality of waypoints 303 and the identified one or more waypoints 305, the one or more pairs of adjacent waypoints on the path line 301. Furthermore, the waypoint engine 210 may be configured to identify the path line segment between each pair of adjacent waypoints on the path line 301.
The waypoint engine 210 by way of the data exchange engine 204 may be configured to receive the angle ‘?’ between each pair of adjacent path line segments from the angle determination angle 212. Further, the waypoint engine 210 may be configured to determine the set of boundary waypoints based on the plurality of waypoints 303. Furthermore, the waypoint engine 210 may be configured to identify the one or more intermediate boundary waypoints (shown as 302ab and 302bb in FIG. 3).
The angle determination engine 212 may be configured to determine the angle ‘?’ between each pair of adjacent path line segments. A detailed description of an exemplary aspect of determination of the angle ‘?’ between each pair of the adjacent path line segments is disclosed in the description of FIG. 3.
The boundary detection engine 214 may be configured to generate the bounding box by connecting each boundary waypoint of the set of boundary waypoints to at least 2 adjacent waypoints that are selected from the set of boundary waypoints and the plurality of waypoints 303. In some aspects of the present disclosure, the boundary detection engine 214 may further be configured to calculate an area under the bounding box.
The footprint engine 216 may be configured to receive the one or more parameters of the imaging unit 106 from the user device 102. In some other aspects of the present disclosure, the processing circuitry 120 may be configured to determine an image footprint of one or more sensors of the imaging device 106. The image footprint may include the footprint width and the footprint height. In some aspects of the present disclosure, the footprint engine 216 may be configured to determine the footprint width of the imaging unit 106 based on the one or more parameters associated with the imaging unit 106.
The offset width engine 218 may be configured to determine an offset width of the corridor map(s). In some aspects of the present disclosure, the offset width may be equal to ½ of the width ‘w’. further the offset width engine 218 may be configured to determine an overall corridor width based on the corridor width ‘w’ and the offset width and the angle ‘?’ between each pair of the adjacent path line segments.
In an aspect of the present disclosure, when the angle ‘?’ between each pair of the adjacent path line segments is less than or equal to 45 degrees, the offset width engine 218 may be configured to determine the overall corridor width as: corridor width/2 = w/2 + (offset width)/2.
In another aspect of the present disclosure, when the angle ‘?’ between each pair of the adjacent path line segments is greater than 45 degrees but less than or equal to 90 degrees, the offset width engine 218 may be configured to determine the overall corridor width as: corridor width/2 = w/2 + offset width/3.
In yet another aspect of the present disclosure, when the angle ‘?’ between each pair of the adjacent path line segments is greater than 90 degrees but less than or equal to 135 degrees, the offset width engine 218 may be configured to determine the overall corridor width as: corridor width/2 = w/2 + offset width/8.
In yet another aspect of the present disclosure, when the angle ‘?’ between each pair of the adjacent path line segments is greater than 135 degrees but less than or equal to 270 degrees, the offset width engine 218 may be configured to determine the overall corridor width as: corridor width/2 = w/2 + offset width/2.
In yet another aspect of the present disclosure, when the angle ‘?’ between each pair of the adjacent path line segments is greater than or equal to 240 degrees but less than or equal to 270 degrees, the offset width engine 218 may be configured to determine the overall corridor width as: corridor width/2 = w/2 + offset width/8.
In yet another aspect of the present disclosure, when the angle ‘?’ between each pair of the adjacent path line segments is greater than or equal to 315 degrees, the offset width engine 218 may be configured to determine the overall corridor width as: corridor width/2 = w/2 + offset width/2.
The trajectory identification engine 220 may be configured to compare the corridor width with the footprint width. Further, the trajectory identification engine 220 may be configured to identify the pair of boundary lines 304 of the bounding box by connecting at least 2 adjacent waypoint pairs that are selected from the set of boundary waypoints (302aa, 302ac, 302ba, and 302bc).
In some aspects of the present disclosure, when the footprint width is less than the corridor width, the trajectory engine 220 may be configured to determine the internal waypoints 402 based on the path line 301, the offset width, and the angle ‘?’ between each pair of the adjacent path line segments. Furthermore, the trajectory engine may be configured to determine the one or more internal lines 404 by connecting each internal waypoint of the set of internal waypoints 402 to at the least 2 adjacent internal waypoints based on the heading of the path line 301. In other aspects of the present disclosure, when the footprint width is greater than the corridor width, the trajectory engine 220 may be configured to generate a trajectory based on the pair of boundary lines 304 and the path line 301 (as shown in FIG. 5).
The map generation engine 222 may be configured to receive the plurality of images from the imaging unit 106. The map generation engine 222 may further be configured to generate the corridor maps (as shown in FIG. 4 and FIG. 5) based on the plurality of images received from the imaging unit 106. In some aspects of the present disclosure, the map generation engine 222 may combine each image of the plurality of images based on a geographical orientation of a location of a portion captured in each image of the plurality of images. In some aspects of the present disclosure, when the corridor width is greater than the footprint width, the map generation engine 222 may generate a corridor map as shown in FIG. 4. In some other aspects of the present disclosure, when the corridor width is less than the footprint width, the map generation engine 222 may generate a corridor map as shown in FIG. 5.
The notification engine 224 may be configured to generate one or more notifications corresponding to the system 100 that may be presented to the user by way of the user device 102. It will be apparent to a person skilled in the art that the aspects of the present disclosure are intended to include or cover any type of notification generated by the system 100 and/or presented to the user by the system 100.
The database 122 may be configured to store data corresponding to the system 100. In some aspects of the present disclosure, the database 160 may be segregated into one or more repositories that may be configured to store a specific type of data. In an exemplary aspect of the present disclosure, the database 160 may include an instructions repository 228, a user data repository 230, a waypoint repository 232, an image repository 234, a trajectory repository 236, and a corridor map repository 238.
The instructions repository 228 may be configured to store instructions data corresponding to the data processing apparatus 104. The instructions data may include data and metadata of one or more instructions corresponding to the various entities of the data processing apparatus 104 such as the processing circuitry 120, the I/O interface 200 and/or the network interface 202. It will be apparent to a person skilled in the art that the aspects of the present disclosure are intended to include or cover any type of instructions data of the data processing apparatus 104, and thus must not be considered as a limitation of the present disclosure.
The user data repository 230 may be configured to store user data of the system 100. The user data may include data and metadata of the data of authenticated users that are registered on the system 100. In some aspects of the present disclosure, the user data repository 230 may further be configured to store partial data and/or partial metadata of the user data corresponding to users that fail to register and/or authenticate on the system 100. Furthermore, the user data repository 230 may be configured to store the set of inputs received from the user by way of the user device 102. It will be apparent to a person skilled in the art that the aspects of the present disclosure are intended to include or cover any type of user data and/or metadata of the user data of the system 100, and thus must not be considered as a limitation of the present disclosure.
The waypoint repository 232 may be configured to store data of the plurality of waypoints 303, one or more waypoints 305 on the path line 301, the one or more intermediate boundary waypoints (302ab, 302bb), the set of boundary waypoints, and the set of internal waypoints 402. In some other aspects of the present disclosure, the waypoint repository 232 may be configured to store data corresponding to any waypoint identified by the system 100.
The image repository 234 may be configured to store the plurality of images captured by the imaging unit 106. The image repository 234 may further be configured to store a combined (or fused) image that may be generated by combining the plurality of images by the processing circuitry 120. The trajectory repository 234 may be configured to store data of the trajectories of the corridor map generated by the processing circuitry 120. The corridor map repository 236 may be configured to store data of the corridor maps 400, 500 generated by the processing circuitry 120.
FIG. 3 illustrates a schematic representation of a corridor plan 300 for determination of the angle ‘?’ between each adjacent pair of path line segments, according to an exemplary aspect of the present disclosure. The corridor plan 300 may include the plurality of waypoints 303 on the path line 301. In some aspects of the present disclosure, the plurality of waypoints 301 may include the initial waypoint 303a and the final waypoint 303b. The corridor plan 300 may further include the one or more waypoints 305. Although FIG. 3 illustrates that the one or more waypoints 305 includes one waypoint 305 (i.e., the intermediate waypoint of the initial waypoint 303a and the final waypoint 303b), it will be apparent to a person skilled in the art that the scope of the present disclosure is not limited to it. In various other aspects, the one or more waypoints 305 may have any number of intermediate waypoints, without deviating from the scope of the present disclosure. In such a scenario, each intermediate waypoint may be structurally and functionally similar to the one or more waypoints 305 as described herein.
The corridor plan 300 may further include the set of boundary waypoints that may include the initial left boundary waypoint 302aa, the final left boundary waypoint 302ac, the initial right boundary waypoint 302ba, and the final right boundary waypoint 302bc. In some aspects of the present disclosure, the initial left boundary waypoint 302aa may be at the distance of ‘w/2’ and the heading of 90 degrees from the initial waypoint 302a. The initial right boundary waypoint 302ba may be at the distance of ‘w/2’ and the heading of 270 degrees from the initial waypoint 303a. The final left boundary waypoint 302ac may be at the distance of ‘w/2’ and the heading of 90 degrees from the final waypoint 303b. The final right boundary waypoint 302bc may be at the distance of ‘w/2’ and the heading of 270 degrees from the final waypoint 303b. furthermore, the corridor plan 300 may include one or more intermediate boundary waypoints (302ab, 303bb). Although FIG. 3 illustrates that the one or more intermediate boundary waypoints includes two intermediate boundary waypoint (i.e., the left intermediate boundary waypoint 302ab, and the right intermediate boundary waypoint 303bb), it will be apparent to a person skilled in the art that the scope of the present disclosure is not limited to it. In various other aspects, a count of the one or more intermediate boundary waypoints is dependent on a count of the one or more waypoints 305. Therefore, the one or more intermediate boundary waypoints may have any number of intermediate boundary waypoints, without deviating from the scope of the present disclosure. In such a scenario, each intermediate boundary waypoint may be structurally and functionally similar to either of, the left intermediate boundary waypoint 302ab, and the right intermediate boundary waypoint 303bb as described herein.
In some aspects of the present disclosure, to determine the one or more intermediate boundary waypoints, the processing circuitry 120 may be configured to determine the angle ‘?’ between each pair of the adjacent path line segments. To determine the angle ‘?’ between each pair of the adjacent path line segments, the processing circuitry 120, for each waypoint of the one or more waypoints 305 may be configured to identify a first point ‘B1’ at a width of ‘w/2’ on the path line 301 heading towards the initial waypoint 303a, and a second point ‘B2’ at a width of ‘w/2’ on the path line 301 heading towards the final waypoint 303b. The processing circuitry 120 may further be configured to identify a first line ‘R1’ that may connect the first point ‘B1’ and the second point ‘B2’. Furthermore, the processing circuitry 120 may be configured to identify a first mid-point ‘P1’ of the first line ‘R1’. Furthermore, the processing circuitry 120 may be configured to identify a second line ‘R2’ that may combine the one or more waypoint 305 with the first mid-point ‘P1’. Furthermore, the processing circuitry 120 may be configured to determine a first distance between the one or more waypoints 305 and the first mid-point ‘P1’. Furthermore, the processing circuitry 120 may be configured to identify a second mid-point ‘P2’ on the second line ‘R2’ at the first distance from the one or more waypoints 305 heading in opposite direction from the one or more waypoints 305. Furthermore, the processing circuitry 120 may be configured to identify a first point of intersection of the second line ‘R2’ with a first boundary line 304a of the pair of boundary lines 304 from the initial left boundary waypoint 302aa heading parallel to the path line 301. In some aspects of the present disclosure, the first point of interaction may be the left intermediate boundary waypoint 302ab. Furthermore, the processing circuitry 120 may be configured to identify a second point of intersection of the second line ‘R2’ with a second boundary line 304b of the pair of boundary lines 304 from the initial right boundary waypoint 302ba heading parallel to the path line 301. In some aspects of the present disclosure, the second point of interaction may be the right intermediate boundary waypoint 302bb.
FIG. 4 illustrates a schematic representation of the corridor map 400, in an exemplary aspect of the present disclosure. In some aspects of the present disclosure, when the corridor width is greater than the footprint width, processing circuitry 120 may be configured to determine the offset width based on the width and the angle ‘?’ between each adjacent pair of path line segments. The processing circuitry 120 may further be configured to determine the set of internal waypoints 402 based on the path line 301, the offset width, and the angle ‘?’ between each pair of the adjacent path line segments. Although FIG. 4 illustrates that the set of internal waypoints 402 includes first through twelfth internal waypoint (i.e., 402aa-402dc), it will be apparent to a person skilled in the art that the scope of the present disclosure is not limited to it. In various other aspects, a count of the set of internal waypoints is dependent on a count of the one or more waypoints 305, the corridor width, and the footprint width. Therefore, the set of internal waypoints may have any number of internal waypoints, without deviating from the scope of the present disclosure. In such a scenario, each internal waypoint may be structurally and functionally similar to first through twelfth internal waypoint 402aa-402dc as described herein.
Furthermore, the processing circuitry 120 may be configured to determine the one or more internal lines 404 by connecting each internal waypoint of the set of internal waypoints 402 to at least 2 adjacent internal waypoints based on the heading of the path line 301 such that the width between each internal line of the one or more internal lines is less than or equal to the footprint width. Although FIG. 4 illustrates that the one or more internal lines 404 includes first through fourth internal lines (i.e., 404a-404d), it will be apparent to a person skilled in the art that the scope of the present disclosure is not limited to it. In various other aspects, a count of the internal lines is dependent on the corridor width, and the footprint width. Therefore, the one or more internal lines may have any number of internal lines, without deviating from the scope of the present disclosure. In such a scenario, each internal line may be structurally and functionally similar to first through fourth internal lines 404a-404d as described herein. In some aspects of the present disclosure, the processing circuitry 120 may further be configured to receive, from the imaging unit 106, a plurality of images captured along the one or more internal lines 404. The processing circuitry 120 may further be configured to combine the plurality of images captured along the one or more internal lines 404 to generate the corridor map 400.
FIG. 5 illustrates a schematic representation of the corridor map 500, in another exemplary aspect of the present disclosure. In some aspects of the present disclosure, when the corridor width is less than the footprint width, the processing circuitry 120 may be configured to receive, from the imaging unit 106, the plurality of images captured along each boundary line of the pair of boundary lines 304 and the path line 301. The processing circuitry 120 may further be configured to combine the plurality of images captured along each boundary line of the pair of boundary lines 304 and the path line 301 to generate the corridor map 500.
FIG. 6 illustrates a flow chart of a method 600 for corridor survey, in accordance with an exemplary aspect of the present disclosure.
At step 602, the system 100 may receive a set of inputs from the user for selection of a path line 302, a width ‘w’, a plurality of waypoints 303 on the path line 301. The plurality of waypoints 303 may include the initial waypoint 303a and the final waypoint 303b.
At step 604, the system 100 may determine the heading of the path line 301 from at least one waypoint of the plurality of waypoints 303 towards another waypoint of the plurality of waypoints 303.
At step 606, the system 100 may identify the one or more waypoint 305 on the path line 301 at one or more instances where a change in the heading is detected.
At step 608, the system 100 may identify the one or more pairs of adjacent waypoints from the plurality of waypoints 303 and the identified one or more waypoints 305.
At step 610, the system 100 may identify the path line segment between each pair of adjacent waypoints.
At step 612, the system 100 may determine the angle ‘?’ between each adjacent pair of path line segments.
At step 614, the system 100 may determine the set of boundary waypoints 302 that corresponds to each waypoint of the plurality of waypoints 303 and the identified one or more waypoints 305, based on the path line 301, the width ‘w’, and the angle ‘?’ between each adjacent pair of path line segments.
At step 616, the system 100 may generate the bounding box by connecting each boundary waypoint of the set of boundary waypoints 302 to at least 2 adjacent waypoints that are selected from the set of boundary waypoints 302 and the plurality of waypoints 303.
At step 618, the system 100 may receive from the user device 102, the one or more parameters associated with the imaging unit 106.
At step 620, the system 100 may determine the footprint width of the imaging unit 106 based on the one or more parameters associated with the imaging unit 106.
At step 622, the system 100 may identify the pair of boundary lines 304 by connecting at least 2 adjacent waypoint pairs that are selected from the set of boundary waypoints 302.
At step 624, the system 100 may generate the corridor width based on the width ‘w’ and the offset width.
At step 626, the system 100 may compare the corridor width with the footprint width.
At step 628, when the corridor width is greater than the footprint width, the system 100 may proceed to step 630, else when the corridor width is less than the footprint width, the system 100 may proceed to step 636.
At step 630, when the corridor width is greater than the footprint width, the system 100, by way of the processing circuitry 120, may determine the set of internal waypoints 402, based on the path line 301, the corridor width, and the angle ‘?’ between each adjacent pair of path line segments.
At step 632, the system 100 may determine the one or more internal lines 404 by connecting each internal waypoint of the set of internal waypoints 402 to at least 2 adjacent internal waypoints based on the heading of the path line 301.
At step 634, the system 100 may receive the plurality of images captured along the internal lines from the imaging unit 106. The system 100 by way of the processing circuitry 120, may further combine the plurality of images captured along the internal lines to generate the corridor map 400.
At step 636, when the corridor width is less than the footprint width, the system 100, by way of the processing circuitry 120, may receive from the imaging unit 106, the plurality of images captured along each boundary line of the pair of boundary lines 304 and the path line 301.
At step 638, the system 100 may combine the plurality of images captured along each boundary line of the pair of boundary lines 304 and the path line 301 to generate the corridor map 500.
As discussed earlier, there is a need for an automated system, an apparatus, and a method for accurate and precise determination of a corridor for survey that efficiently utilize the available resources and result in least amount of irrelevant data captured by the system to cover the desired area. As the method 600 involves selection of a precise corridor area based on user’s inputs, the system 100 by way of the data processing apparatus 104 through the method 600 provides accurate and precise determination of the corridor maps 400, 500 for a survey that efficiently utilize the available resources and result in least amount of irrelevant data captured by the system to cover the desired area.
The foregoing discussion of the present disclosure has been presented for purposes of illustration and description. It is not intended to limit the present disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the present disclosure are grouped together in one or more aspects, configurations, or aspects for the purpose of streamlining the disclosure. The features of the aspects, configurations, or aspects may be combined in alternate aspects, configurations, or aspects other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention the present disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed aspect, configuration, or aspect. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate aspect of the present disclosure.
Moreover, though the description of the present disclosure has included description of one or more aspects, configurations, or aspects and certain variations and modifications, other variations, combinations, and modifications are within the scope of the present disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative aspects, configurations, or aspects to the extent permitted, including alternate, interchangeable and/or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and/or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.
As one skilled in the art will appreciate, the system 100 includes a number of functional blocks in the form of a number of units and/or engines. The functionality of each unit and/or engine goes beyond merely finding one or more computer algorithms to carry out one or more procedures and/or methods in the form of a predefined sequential manner, rather each engine explores adding up and/or obtaining one or more objectives contributing to an overall functionality of the system 100. Each unit and/or engine may not be limited to an algorithmic and/or coded form, rather may be implemented by way of one or more hardware elements operating together to achieve one or more objectives contributing to the overall functionality of the system 100. Further, as it will be readily apparent to those skilled in the art, all the steps, methods and/or procedures of the system 100 are generic and procedural in nature and are not specific and sequential.
Certain terms are used throughout the following description and claims to refer to particular features or components. As one skilled in the art will appreciate, different persons may refer to the same feature or component by different names. This document does not intend to distinguish between components or features that differ in name but not structure or function. While various aspects of the present disclosure have been illustrated and described, it will be clear that the present disclosure is not limited to these aspects only. Numerous modifications, changes, variations, substitutions, and equivalents will be apparent to those skilled in the art, without departing from the spirit and scope of the present disclosure, as described in the claims.
, Claims:CLAIMS:
1. A data processing apparatus (104) comprising:
a processing circuitry (120) configured to:
determine a heading of a path line (301) from at least one waypoint of a plurality of waypoints (303) towards another waypoint of the plurality of waypoints (303);
identify one or more waypoint (305) on the path line (301) at one or more instances where a change in the heading is detected;
identify, from the plurality of waypoints (303) and the identified one or more waypoints (305), one or more pairs of adjacent waypoints;
identify a path line segment between each pair of adjacent waypoints;
determine an angle (?) between each pair of adjacent path line segments;
determine, based on (i) the path line (301), (ii) a width (w), (iii) and the angle (?) between each pair of adjacent path line segments, a set of boundary waypoints (302) that corresponds to each waypoint of the plurality of waypoints (303) and the identified one or more waypoints (305); and
generate a bounding box by connecting each boundary waypoint of the set of boundary waypoints (302) to at least 2 adjacent waypoints that are selected from (i) the set of boundary waypoints (302) and (ii) the plurality of waypoints (303).

2. The data processing apparatus (104) as claimed in claim 1, wherein the plurality of waypoints (303) comprising an initial waypoint (303a) and a final waypoint (303b).

3. The data processing apparatus (104) as claimed in claim 1, wherein, prior to the determination of the heading of the path line (301), the processing circuitry (120) is configured to receive a set of inputs from a user device (102) for selection of the path line (301), the width (w), and the plurality of waypoints (303).

4. The data processing apparatus (104) as claimed in claim 1, wherein the processing circuitry (120) is further configured to (i) receive, from the user device (102), one or more parameters associated with an imaging unit (106) and (ii) determine a footprint width of the imaging unit (106) based on the one or more parameters.

5. The data processing apparatus (104) as claimed in claim 1, wherein the processing circuitry (120) is further configured to determine a corridor width based on the width (w) and an offset width.

6. The data processing apparatus (104) as claimed in claim 5, wherein, when the corridor width is greater than the footprint width, the processing circuitry (120) is configured to (i) determine a set of internal waypoints (402) based on the path line (301), the corridor width, and the angle (?) between each pair of adjacent path line segments, (ii) determine one or more internal lines (404) by connecting each internal waypoint of the set of internal waypoints (402) to at least 2 adjacent internal waypoints based on the heading of the path line (301) such that a width between each internal line of the one or more internal lines (402) is less than or equal to the footprint width.

7. The data processing apparatus (104) as claimed in claim 6, wherein the processing circuitry (120) is further configured to (i) receive, from the imaging unit (106), a plurality of images captured along the one or more internal lines (404) and (ii) combine the plurality of images captured along the one or more internal lines (404) to generate a corridor map (400).

8. The data processing apparatus (104) as claimed in claim 1, wherein the processing circuitry (120) is further configured to identify a pair of boundary lines (304) of the bounding box by connecting at least 2 adjacent waypoint pairs that are selected from the set of boundary waypoints (302).

9. The data processing apparatus (104) as claimed in claim 5, wherein, when the corridor width is less than the footprint width, the processing circuitry (120) is configured to (i) receive, from the imaging unit (104), a plurality of images captured along each boundary line of the pair of boundary lines (304) and the path line (301), and (ii) combine the plurality of images captured along each boundary line of the pair of boundary lines (304) and the path line (301) to generate a corridor map (500).

10. A system (100) comprising:
a user device (102) configured to receive a set of inputs from a user for selection of a path line (301), a width (w), and a plurality of waypoints (303) on the path line (301);
a data processing apparatus (104) that is coupled to the user device (102), and comprising a processing circuitry (120) configured to:
determine a heading of the path line (301) from at least one waypoint of the plurality of waypoints (303) towards another waypoint of the plurality of waypoints (303);
identify one or more waypoint (305) on the path line (301) at one or more instances where a change in the heading is detected;
identify, from the plurality of waypoints (303) and the identified one or more waypoints (305), one or more pairs of adjacent waypoints;
identify a path line segment between each pair of adjacent waypoints;
determine an angle (?) between each pair of adjacent path line segments;
determine, based on (i) the path line (301), (ii) a width (w), (iii) and the angle (?) between each pair of adjacent path line segments, a set of boundary waypoints (302) that corresponds to each waypoint of the plurality of waypoints (303) and the identified one or more waypoints (305); and
generate a bounding box by connecting each boundary waypoint of the set of boundary waypoints (302) to at least 2 adjacent waypoints that are selected from (i) the set of boundary waypoints (302) and (ii) the plurality of waypoints (303).

11. The system (100) as claimed in claim 10, wherein the plurality of waypoints (303) comprising an initial waypoint (303a) and a final waypoint (303b).

12. The system (100) as claimed in claim 10, wherein, prior to the determination of the heading of the path line (301), the processing circuitry (120) is configured to receive a set of inputs from a user device (102) for selection of the path line (301), the width (w), and the plurality of waypoints (303).

13. The system (100) as claimed in claim 10, wherein the processing circuitry (120) is further configured to (i) receive, from the user device (102), one or more parameters associated with an imaging unit (106) and (ii) determine a footprint width of the imaging unit (106) based on the one or more parameters.

14. The system (100) as claimed in claim 10, wherein, wherein the processing circuitry (120) is further configured to determine a corridor width based on the width (w) and an offset width.

15. The system (100) as claimed in claim 14, wherein, when the corridor width is greater than the footprint width, the processing circuitry (120) is configured to (i) determine a set of internal waypoints (402) based on the path line (301), the corridor width, and the angle (?) between each pair of adjacent path line segments, (ii) determine one or more internal lines (404) by connecting each internal waypoint of the set of internal waypoints (402) to at least 2 adjacent internal waypoints based on the heading of the path line (301) such that a width between each internal line of the one or more internal lines (402) is less than or equal to the footprint width.

16. The system (100) as claimed in claim 15, wherein the processing circuitry (120) is further configured to (i) receive, from the imaging unit (106), a plurality of images captured along the one or more internal lines (404) and (ii) combine the plurality of images captured along the one or more internal lines (404) to generate a corridor map (400).

17. The system (100) as claimed in claim 10, wherein the processing circuitry (120) is further configured to identify a pair of boundary lines (304) of the bounding box by connecting at least 2 adjacent waypoint pairs that are selected from the set of boundary waypoints (302).

18. The system (100) as claimed in claim 14, wherein, when the corridor width is less than the footprint width, the processing circuitry (120) is configured to (i) receive, from the imaging unit (104), a plurality of images captured along each boundary line of the pair of boundary lines (304) and the path line (301), and (ii) combine the plurality of images captured along each boundary line of the pair of boundary lines (304) and the path line (301) to generate a corridor map (500).

19. A method (600) comprising:
receiving, by way of a user device (102), a set of inputs from the user for selection of a path line (301), a width (w), a plurality of waypoints (303) on the path line (301), wherein the plurality of waypoints (303) comprising an initial waypoint (303a) and a final waypoint (303b);
determining, by way of processing circuitry (120), a heading of the path line (301) from at least one waypoint of the plurality of waypoints (303) towards another waypoint of the plurality of waypoints (303);
identifying, by way of the processing circuitry (120), one or more waypoint (305) on the path line (301) at one or more instances where a change in the heading is detected;
identifying, by way of the processing circuitry (120), one or more pairs of adjacent waypoints from the plurality of waypoints (303) and the identified one or more waypoints (305);
identifying, by way of the processing circuitry (120), a path line segment between each pair of adjacent waypoints;
determining, by way of the processing circuitry (120), an angle (?) between each adjacent pair of path line segments;
determining, by way of the processing circuitry (120), a set of boundary waypoints (302) that corresponds to each waypoint of the plurality of waypoints (303) and the identified one or more waypoints (305), based on the path line (301), a width (w), and the angle (?) between each adjacent pair of path line segments;
generating, by way of the processing circuitry (120), a bounding box by connecting each boundary waypoint of the set of boundary waypoints (302) to at least 2 adjacent waypoints that are selected from (i) the set of boundary waypoints (302) and (ii) the plurality of waypoints (303);
receiving, by way of the processing circuitry (120), one or more parameters associated with an imaging unit (106) from the user device (102);
determining, by way of the processing circuitry (120), a footprint width of the imaging unit (106) based on the one or more parameters;
identifying, by way of the processing circuitry (120), a pair of boundary lines (304) by connecting at least 2 adjacent waypoint pairs that are selected from the set of boundary waypoints (302); and
determining, by way of the processing circuitry (120), a corridor width based on the width (w) and an offset width.

20. The method (600) as claimed in claim 19, wherein, when the corridor width is greater than footprint width, the method (600) comprising (i) determining, by way of the processing circuitry (120), a set of internal waypoints (402), based on the path line (301), the corridor width (w), and the angle (?) between each adjacent pair of path line segments, (ii) determining, by way of the processing circuitry (120), one or more internal lines (404) by connecting each internal waypoint of the set of internal waypoints (404) to at least 2 adjacent internal waypoints based on the heading of the path line (301) such that a width between each internal line of the one or more internal lines (404) is less than or equal to the footprint width, (iii) receiving, by way of the processing circuitry (120), a plurality of images captured along the internal lines (404) from the imaging unit (106) and (iv) combining, by way of the processing circuitry (120), the plurality of images captured along the internal lines (404) to generate a corridor map (400).

21. The method (600) as claimed in claim 19, wherein when the corridor width is less than footprint width, the method (600) comprising (i) receiving from the imaging unit (106), by way of the processing circuitry (120), a plurality of images captured along each boundary line of the pair of boundary lines (304) and the path line (301), and (ii) combining, by way of the processing circuitry (120), the plurality of images captured along each boundary line of the pair of boundary lines (304) and the path line (301) to generate a corridor map (500).