Granted Patent B2

US 12,561,825 · App. 18/295,439 · Granted Feb 24, 2026

Inventor: James J. Troy (Issaquah, WA)

Assignee: The Boeing Company

G06T7/70G01S17/89G05D1/0246

Abstract

Claims (61)

1 . A method comprising:

detecting a plurality of landmarks in scan data acquired by a scanning sensor disposed onboard a mobile inspection platform;

determining, via one or more processors, centers of the landmarks based on scan points in the scan data that impinge perimeter surfaces of the landmarks, wherein determining the centers of the landmarks comprises:

grouping the scan points into different groups based on proximity;

converting the scan points in each group into one or more line segments; and

determining one or more sets of parallel line segments among the different groups; and

determining a location of the mobile inspection platform in relation to the centers of the landmarks.

2 . The method of claim 1 , wherein the landmarks include landing gear of an aircraft.

3 . The method of claim 1 , further comprising:

matching the one or more sets of parallel line segments to designated patterns associated with different regions in a surrounding environment that includes the landmarks; and

determining a best-matching pattern of the designated patterns.

4 . The method of claim 3 , further comprising:

determining offsets based on the best-matching pattern; and

applying the offsets to mid-points of the one or more line segments to determine the centers of the landmarks.

5 . The method of claim 1 , further comprising determining an occlusion state of the sensor based on a number of the parallel line segments in each of the one or more sets of parallel line segments.

6 . The method of claim 5 , wherein determining the location of the mobile inspection platform comprises selecting a localization algorithm based on the occlusion state of the sensor, and inputting the centers of the landmarks into the localization algorithm that is selected.

7 . The method of claim 1 , further comprising controlling movement of the mobile inspection platform relative to the landmarks based on the location of the mobile inspection platform in relation to the centers of the landmarks.

8 . The method of claim 1 , further comprising generating the scan data by controlling the sensor to perform a full 360-degree scan of a surrounding environment that includes the landmarks.

9 . A localization system comprising:

a scanning sensor disposed on a mobile inspection platform and configured to acquire scan data of a surrounding environment; and

one or more processors configured to analyze the scan data and detect a plurality of landmarks in the scan data, the one or more processors configured to determine centers of the landmarks based on scan points in the scan data that impinge perimeter surfaces of the landmarks, and determine a location of the mobile inspection platform in relation to the centers of the landmarks,

wherein the one or more processors are configured to determine the centers of the landmarks by:

grouping the scan points into different groups based on proximity;

converting the scan points in each group into one or more line segments; and

determining one or more sets of parallel line segments among the different groups.

10 . The localization system of claim 9 , wherein the sensor is a LIDAR sensor.

11 . The localization system of claim 9 , wherein the landmarks include landing gear of an aircraft.

12 . The localization system of claim 9 , wherein the one or more processors are configured to determine the centers of the landmarks by:

matching the one or more sets of parallel line segments to designated patterns associated with different regions in the surrounding environment; and

determining a best-matching pattern of the designated patterns.

13 . The localization system of claim 12 , wherein the one or more processors are configured to determine the centers of the landmarks by:

determining offsets based on the best-matching pattern; and

applying the offsets to mid-points of the one or more line segments to determine the centers of the landmarks.

14 . The localization system of claim 9 , wherein the one or more processors are configured to:

determine an occlusion state of the sensor based on a number of the parallel line segments in each of the one or more sets of parallel line segments; and

determine the location of the mobile inspection platform by selecting a localization algorithm based on the occlusion state of the sensor and inputting the centers of the landmarks into the localization algorithm that is selected.

15 . The localization system of claim 9 , wherein the landmarks have a circular cross-sectional shape, and the one or more processors are configured to determine the respective center of each corresponding landmark by:

determining a first line between a first scan point in the scan data and a second scan point in the scan data;

determining a second line between the second scan point and a third scan point in the scan data; and

determining the respective center as a point of intersection between a first perpendicular bisector line of the first line and a second perpendicular bisector line of the second line.

16 . The localization system of claim 9 , wherein the one or more processors are configured to control movement of the mobile inspection platform relative to the landmarks based on the location of the mobile inspection platform in relation to the centers of the landmarks.

17 . The localization system of claim 9 , wherein the one or more processors are configured to control the scanning sensor to acquire the scan data by performing a full 360-degree scan of the surrounding environment.

18 . A localization system comprising:

a scanning sensor disposed on a mobile inspection platform and configured to acquire scan data of a surrounding environment; and

one or more processors configured to:

detect a plurality of landmarks in the scan data based on scan points in the scan data that impinge perimeter surfaces of the landmarks;

group the scan points into different groups based on proximity;

convert the scan points in each group into one or more line segments;

determine a set of parallel line segments among the different groups;

match the set of parallel line segments to a first designated pattern of multiple designated patterns associated with different regions in the surrounding environment;

determine offsets based on the first designated pattern;

apply the offsets to mid-points of the one or more line segments to determine centers of the landmarks; and

determine a location of the mobile inspection platform in relation to the centers of the landmarks.

19 . A localization system comprising:

a scanning sensor disposed on a mobile inspection platform and configured to acquire scan data of a surrounding environment; and

one or more processors configured to analyze the scan data and detect a plurality of landmarks in the scan data, the one or more processors configured to determine centers of the landmarks based on scan points in the scan data that impinge perimeter surfaces of the landmarks, and determine a location of the mobile inspection platform in relation to the centers of the landmarks,

wherein the landmarks have a circular cross-sectional shape, and the one or more processors are configured to determine the respective center of each corresponding landmark by:

determining a first line between a first scan point in the scan data and a second scan point in the scan data;

determining a second line between the second scan point and a third scan point in the scan data; and

determining the respective center as a point of intersection between a first perpendicular bisector line of the first line and a second perpendicular bisector line of the second line.

20 . The localization system of claim 19 , wherein the landmarks include landing gear of an aircraft.

Assignments (1)

Continuity (2)

References Cited (10)