Methods and apparatus are disclosed herein to determine relative positioning between moving platforms. An example method includes sending a first signal via a first moving platform to be received by a second moving platform. The example method includes receiving, at the first platform, a second signal sent by the second moving platform and aligning the first signal and the second signal. The example method includes determining, at the first moving platform, a first duration of time between the sending of a first pulse and the receiving of a second pulse. The example method includes determining, at the second moving platform, a second duration of time between the sending of the second pulse and the receiving of the first pulse. The example method includes determining a distance of the first moving platform relative to the second moving platform based on the first and second durations of time.

Methods and apparatus are disclosed herein to determine relative positioning between moving platforms. An example method includes sending a first signal via a first moving platform to be received by a second moving platform. The example method includes receiving, at the first platform, a second signal sent by the second moving platform and aligning the first signal and the second signal. The example method includes determining, at the first moving platform, a first duration of time between the sending of a first pulse and the receiving of a second pulse. The example method includes determining, at the second moving platform, a second duration of time between the sending of the second pulse and the receiving of the first pulse. The example method includes determining a distance of the first moving platform relative to the second moving platform based on the first and second durations of time.

A position and orientation measuring apparatus calculates a difference between an image feature of a two-dimensional image of an object and a projected image of a three-dimensional model in a stored position and orientation of the object projected on the two-dimensional image. The position and orientation measuring apparatus further calculates a difference between three-dimensional coordinate information and a three-dimensional model in the stored position and orientation of the object. The position and orientation measuring apparatus then converts a dimension of the first difference and/or the second difference to cause the first difference and the second difference to have an equivalent dimension and corrects the stored position and orientation.

A position and orientation measuring apparatus calculates a difference between an image feature of a two-dimensional image of an object and a projected image of a three-dimensional model in a stored position and orientation of the object projected on the two-dimensional image. The position and orientation measuring apparatus further calculates a difference between three-dimensional coordinate information and a three-dimensional model in the stored position and orientation of the object. The position and orientation measuring apparatus then converts a dimension of the first difference and/or the second difference to cause the first difference and the second difference to have an equivalent dimension and corrects the stored position and orientation.

A processor of a distance measuring apparatus calculates a three-dimensional position of an object in the surroundings based on the first image, the second image and the amount of movement. The processor determines that calculated three-dimensional position is an error, when the displacement between a fourth position at which a third position set based on the calculated three-dimensional position of the object is projected on either one image of the first image and the second image and a position of the object in the one image is equal to or larger than a prescribed value. The processor makes the calculated three-dimensional position a distance measurement target when the calculated three-dimensional position is not determined as an error, and when determined as an error, excludes the calculated three-dimensional position from the distance measurement target.

A processor of a distance measuring apparatus calculates a three-dimensional position of an object in the surroundings based on the first image, the second image and the amount of movement. The processor determines that calculated three-dimensional position is an error, when the displacement between a fourth position at which a third position set based on the calculated three-dimensional position of the object is projected on either one image of the first image and the second image and a position of the object in the one image is equal to or larger than a prescribed value. The processor makes the calculated three-dimensional position a distance measurement target when the calculated three-dimensional position is not determined as an error, and when determined as an error, excludes the calculated three-dimensional position from the distance measurement target.

A method for determining a current distance and/or a current speed of a target object relative to a motor vehicle based on an image of the target object, in which the image is provided by a camera of the motor vehicle, where characteristic features of the target object are extracted from the image and a reference point associated with the target object is determined based on the characteristic features for determining the distance and/or the speed, wherein the distance and/or the speed are determined based on the reference point, and a baseline is determined in the image based on the characteristic features, which is in a transition area from the depicted target object to a ground surface depicted in the image, and a point located on the baseline is determined as the reference point.

A method for determining a current distance and/or a current speed of a target object relative to a motor vehicle based on an image of the target object, in which the image is provided by a camera of the motor vehicle, where characteristic features of the target object are extracted from the image and a reference point associated with the target object is determined based on the characteristic features for determining the distance and/or the speed, wherein the distance and/or the speed are determined based on the reference point, and a baseline is determined in the image based on the characteristic features, which is in a transition area from the depicted target object to a ground surface depicted in the image, and a point located on the baseline is determined as the reference point.

A method for aligning visual-inertial odometry (VIO) and satellite positioning system (SPS) reference frames includes obtaining a plurality of range-rate measurements of a mobile platform from an SPS. The range-rate measurements are with respect to a global reference frame of the SPS. The method also includes obtaining a plurality of VIO velocity measurements of the mobile platform from a VIO system. The VIO velocity measurements are with respect to a local reference frame of the VIO system. At least one orientation parameter is then determined to align the local reference frame with the global reference frame based on the range-rate measurements and the VIO velocity measurements.

A method for processing a hyperspectral image, comprising: a first correction step for extracting a curve of spectral dimension of an initial spaceborne hyperspectral cube image for low-pass filtering so as to obtain initial correction coefficients; an optimization step for optimizing and compensating the initial correction coefficients according to the ripple period of spatial dimension of the pixel in each band, so as to obtain the optimized correction coefficients of the hyperspectral cube image; and a second correction step for obtaining a corrected hyperspectral image based on the optimized correction coefficients.