Dynamic Tracking System and Automatic Guidance Method Based on 3D Time-of-Flight Cameras

摘要

A dynamic tracking system (3) comprises a three-dimensional camera (2) based on time-of-flight technology, which comprises a receiver sensitive to the light emissions comprised in a certain range of wavelengths, a first emitter of light signals (2c); a micro-computer (2a) interfacing and computing three-dimensional information coming from the receiver (2b) and controlling the emitter (2c), and an internal or external secondary computer (2d) incorporating data analysis, database services, controls and external interfacing to vehicle and local or global data communication services. The system further comprises a beacon (1) sensitive to the light signals originating from the first light emitter (2c) of the three-dimensional camera (2), this beacon (1) being itself equipped with a second emitter of light signals [FIG. 2, (1b)] of a wavelength compatible with the sensitivity of the three-dimensional camera (2). The beacon (1) comprises a means for modulating the light signals [FIG. 2, (1c,c′,d)] originating from the first emitter of light signals (2c). The three-dimensional camera is configured for measuring the return time of the signal reemitted by the beacon. The modulation is configured such to allow, by means of the three-dimensional camera, a unique identification and simultaneously a position determination of the beacon (1) in a three-dimensional volume covered by the three-dimensional camera's field of view (2). The unique identification of the beacon (1) being accomplished in the micro-computer by the analysis of the apparent distance of the beacon in consecutive frames of the three-dimensional camera (2).