MARKING METHODS, APPARATUS AND SYSTEMS INCLUDING OPTICAL FLOW-BASED DEAD RECKONING FEATURES

摘要

A position of a marking device is monitored by receiving start position information indicative of an initial position of the marking device, capturing one or more images using one or more camera systems attached to the marking device, and analyzing the image(s) to determine tracking information indicative of a motion of the marking device. The tracking information and the start position information are then analyzed to determine current position information. In one example, images of a target surface over which the marking device is carried are analyzed pursuant to an optical flow algorithm to provide estimates of relative position for a dead-reckoning process, and the current position information is determined based on the estimates of relative position and the start position information. In another example, a geo-location device is used to generate geo-location data indicative of positions of the marking device as it traverses at least a first portion of the path. The camera system(s) are used to obtain optical flow-based dead reckoning data indicative of relative positions of the marking device as it traverses at least a second portion of the path.