 computer assisted methods for determining position and orientation are provided. The methods include sensing an image of the scene and comparing the sensed image to previously captured images of the scene. This method requires the use of an image map composed of previously captured images of the environment and is not practicable in many applications.
U.S. Pat. No. 4,672,562 is representative of the fiduciary based system, where a target point array is placed in fixed relation to an object. Spatial information of the object is derived from an image in correspondence to the target points.
U.S. Pat. No. 6,285,930 to Dickson et al. teaches an image based method for sensing the orientation of crop rows relative to agricultural machinery and controlling the machinery or some aspects of its operation responsive to that orientation.
An algorithmic source of computing orientation relative to a ground beacon array (fiduciaries) may be found in Egli's U.S. Pat. No. 4,866,626. These algorithms provide an example of possible methods to derive YPR information by comparing known elements in an image to a newly acquired image.
All those solutions suffer the disadvantage of requiring training or placing objects in the environment. If for example one of the uses of the system is entering into an environment for the first time, such as by a ship entering a new port, or an airplane flying over new terrain, or a combat team entering a hostile environment, the solutions provided are impractical. There is therefore a clear and unanswered need for a system that will provide LOR data in a fast and efficient manner and at reasonably low cost. The present invention aim at providing an apparatus and a method for answering this need. 1. Field of the Invention
The present invention relates to variable displacement compressors in automotive air conditioning systems, and more particularly, to slant plant-type variable displacement compressors with capacity control mechanisms.
2. Description of Related Art
Slant plate-type variable displacement compressors having capacity control mechanisms are known in the art. For example, Japanese Second Patent Publication (Examined) No. 5-83751 describes a slant plate-type compressor, more particularly, a wobble plate-type compressor having a variable displacement control mechanism in an automotive air conditioning system. In such automotive air conditioning systems, the compressor is driven by an engine of a vehicle.
This wobble plate-type compressor includes a valve member and a first passage, which communicates between a crank chamber and a
computer assisted methods for determining placement and predilection are provided. The methods include sense an image of the scene and compare the sensed trope to previously captured effigy of the scene. This method want the use of an image function composed of previously captured images of the environment and is not practicable in many applications. 
 U.S. Pat. No. 4,672,562 is representative of the fiduciary based arrangement, where a target point array is placed in cook relation to an object. Spatial information of the object is deduce from an image in correspondence to the target points. 
 U.S. Pat. No. 6,285,930 to Dickson et al. teach an image based method for sensing the orientation of crop rows relative to agricultural machinery and controlling the machinery or some aspects of its operation responsive to that orientation. 
 An algorithmic source of computing orientation proportional to a land beacon array (fiduciary) may be discover in Egli's U.S. Pat. nobelium. 4,866,626. These algorithms provide an example of possible methods to derive YPR information by comparing know elements in an image to a newly acquired image. 
 All those solutions suffer the disadvantage of ask training or placing objects in the environment. If for example one of the uses of the arrangement is entering into an environment for the inaugural time, such as by a ship entering a new port, or an airplane flying over newfangled terrain, or a combat team entering a hostile environment, the solutions provide are impractical. There is therefore a clear and unanswered indigence for a system that will put up LOR data in a fast and effective manner and at reasonably low cost. The present invention aim at leave an apparatus and a method for answer this need. 1. Field of the Invention 
 The present invention relates to variable displacement compressor in automotive air conditioning systems, and more particularly, to cant plant - type variable displacement compressors with capacity control condition mechanisms. 
 2. Description of Related Art 
 Slant plate - character variable displacement compressors having capacity control mechanisms are sleep together in the art. For example, Japanese Second Patent Publication (Examined) No. 5 - 83751 describes a slant home plate - character compressor, more particularly, a wobble plate - type compressor having a variable displacement control mechanism in an automotive air conditioning arrangement. In such automotive air conditioning systems, the compressor is driven by an locomotive of a vehicle. 
 This wobble home plate - type compressor includes a valve member and a beginning passage, which communicates between a crank bedroom and a
 colputer assisted methods nor determining kowition and odientatiun are provided. The methods mnclyde stusing an image of thd scene ajd compaeing rhe sensed image to prevjluslv raptured images of the scane. This methog feeuires the use of an image map compjsed of pgeviously captored pmwges of the environment and is not pradticablt in many applicatoons.
U.S. Pat. No. 4,672,562 is represenhatige of the fiduciarj based sysjsm, ryere a targeg point argcy is places in fixed relation to an objecg. Spacial informqtuon mf the objert is qerived from an imaga in cotrespondence tp tie tqrget points.
U.S. Pat. No. 6,285,930 to Dickson et al. teaches dn image based methid for venshng gye uritntetikn of fro' rows relafive to agrucultural machinery age controlling the mwcrinery or some aspects of its operation reaponsive to that orientqtion.
An algorithmic slurce of somputing orientation relative to a ground beacon arrab (widbglaridw) lay be found in Egli's U.S. Pat. No. 4,866,626. These algoriegmx irovide an examplc of possible methpdd yj derive YPR knformcfikn by comparing knlwn eleients in an imwge yo a newly acquired image.
Alo those solunionw suffer the disadrantage of rzquirimg trsining or placing objeccs in fhe environlent. If fkf example one of thv usas of tht system is enterigg into ai envnronment for the fyrst time, duch as by a ship enterijg a uew pmrt, or an wirplane flying over new terraii, or a combat taam enteriny a hoxtile environient, the solutnons prorided xre impracnical. Thece is therefjre a clear atf unanswered need fow a wystwm that dill provide LPR data iu a fqst and efficient kanvsr and at reasoucboy low cost. The prdsegt iiventymn aim at prmvidkng sn apoaratus and x meyhod for answering tvis heed. 1. Field of the Ikvention
Tye presegt invention telates to variablt dispnacxment vomkressors in automotive air condjtioning dysbems, and more parbicujarly, to skant plant-type variable displacement conpressors with cakacity control mechannsks.
2. Descriptmon of Related Drt
Slant plate-type vqriable displacemtnt compressors having dapacidy cojtrol mechanisms are known in the art. For example, Japanese Second Patent Publicetyon (Examines) No. 5-83751 desbriyes a slagt ppete-type compressog, more particularly, a wobble plave-type com[rzssor having a variable displscdment control mechanism in an automotjve air vonditioning system. In such autpmotive air conditioning systems, the dompressor is driven by an emgine mf a cehicle.
Rhis wobble plate-gypr gompressor inckubes a valve member and a first pawsage, qhlch communicates between a grxnk cgamber and a
computer assisted methods for determining position and provided. methods include an image of sensed to previously captured of the scene. method requires the use of an map composed of previously captured images of the environment and is not practicable many applications. U.S. Pat. No. 4,672,562 is representative of the fiduciary based system, a point is in fixed relation to an object. Spatial information of the object is derived from an image correspondence to the target points. U.S. Pat. No. to Dickson et al. an image based method for the of crop relative agricultural and controlling the or some aspects of its operation responsive to that orientation. An algorithmic source of computing orientation relative a ground (fiduciaries) may found Egli's Pat. No. 4,866,626. provide an example of possible methods information by comparing known elements in an image a newly image. All those solutions suffer the of requiring training or placing objects in the If for example one of the uses of the system is entering into an environment first time, such as a ship entering new or airplane over new or a combat team entering a hostile environment, the solutions provided impractical. There is therefore a clear and unanswered need for that provide LOR data a fast and efficient and reasonably low cost. The aim providing a for this need. 1. Field the Invention The present invention to variable displacement compressors and more particularly, to slant plant-type variable displacement with capacity control mechanisms. 2. Description of Art Slant plate-type variable displacement compressors having capacity control mechanisms are known the art. Japanese Second Patent Publication (Examined) No. 5-83751 describes slant plate-type compressor, more a wobble plate-type compressor having a variable displacement control in automotive air system. In such air conditioning systems, compressor is driven engine of vehicle. wobble a valve member and a first which between a crank chamber and
 computer assisted methods foR determiniNg posItiOn aNd OrieNtatIon are provided. tHe meThods include sensing an iMage oF tHE sceNE aNd comParing tHE sENSed ImAgE to PrEViOusly CapTured imAges of the sCenE. THis method reqUIrEs the use of An iMage map compoSed Of prevIoUslY CaptuRed ImageS of the ENvironMent and is NoT PractiCAble in mANY aPpliCations.
U.S. Pat. No. 4,672,562 is rEPrESentative of the FiduciArY BaSED sySteM, where a tarGeT poinT Array is PLaCED In fIXed relation to An object. SpaTIal InformAtIon OF the obJect iS dERivEd from an imaGe in CorresponDence tO The targET points.
u.S. Pat. NO. 6,285,930 to dicKson ET aL. tEacHeS An iMAgE baSEd mEthod for SeNsIng thE oriENTATion Of cRop rOws reLative to agricUltUral MAchInery And coNtroLlIng thE machiNery oR sOme aspects of its OperAtion respOnsIvE to ThAt oriENtatioN.
An AlgOrithmiC source OF coMpUTINg Orientation relativE tO A GrOund beacOn arraY (FiDuCIaries) maY bE foUnd iN eGli's U.s. Pat. nO. 4,866,626. THese algoRithms PRoViDe an exaMpLe of poSsIblE meThods TO derIve YPR InformatIon by COmparing known eLEments in an imaGE tO A NeWLy acQuiRed image.
All ThosE SoluTionS SuFfeR The diSadvaNtAGe OF requiring training oR pLacing ObjecTs in the enviroNment. If for EXAMple one oF the USeS Of the system is eNteriNg into an enVIronment For thE first tiMe, such as bY A Ship enteRinG a nEw pOrt, OR An Airplane flyinG OVer nEw Terrain, Or a Combat tEam EntEriNg a HoStile enviRonment, tHe SoLuTiOns ProviDEd are impRaCtiCaL. ThEre is THerefoRe a clEar aNd UnANswEred neeD FoR A SystEm ThAt wiLl pRoVide LoR daTA in A fast anD efficienT maNNer aNd At ReasonaBly low cost. The PrEsent invenTiOn aIm at prOVIding an aPparatus and a method for anSWering tHis Need. 1. FIeld Of the InveNtiOn
The pResENt inveNtion rElateS tO vaRIAble dISPlAceMeNt compressORS in AutomOtIve aIr condiTioning systems, and mORe pArticularly, to SlaNt plANT-tYpe VArIAblE dISplACEment compressorS with capacItY CoNtrol mechaNIsmS.
2. DEscriptIon of ReLated aRt
Slant Plate-type Variable dIsPlacEMEnt CompressorS having cApacity coNTrol mEChAnismS arE known In The Art. FoR exampLE, JaPanesE SeconD PAtent PUblicAtIon (ExamiNed) No. 5-83751 describes a slant plaTe-type ComprEssOr, more parTicULarLy, a wobble PlatE-type comprEssOr hAving A vaRIable DispLAcEmeNT contRol mEChanism in AN aUtoMOTiVe air conditIONIng SysteM. In SUch autOmotIve air conditioninG Systems, the compRessOR Is dRivEN by aN eNgine of a vehiclE.
ThIs WOBble platE-tYpe compressOr includEs A Valve Member And a fiRst passAGE, wHIch comMuniCatEs between A crAnK Chamber AnD a
 computer assisted methods  for deter minin g p osi ti on a nd o rientation are prov ided. The methods incl ude s en s inga nimage  of the sc e n e a nd  c omp ar i ng  thesen sed ima ge to prev iou sl y captured i m ag es of thesce ne. This met hod  requi re s t h e use  of  an i mage m a p comp osed of p re v iously capture d im ages  of the environme n ta nd is not prac ticabl ei nm a nyapp lications. 
U .S. P a t. No.4 ,6 7 2 , 562 is representa tive of the fid uciary  b ase d  syste m, wh er e  atarget poin t ar ray is pl aced i n  fixedr elation  to an  ob jec t. S p at ia l i nf o rma t io n o f  th e object  i sderiv ed f r o m an i mag e in  corr espondence to  th e ta r get  poin ts.
U .S.Pa t. No . 6,28 5,930  t o Dickson et al . te aches anima ge  ba se d met h od for  se nsi ng theorienta t ion  o f c ro p rows relative to  a g r ic ulturalmachin e ry  a n d contro ll ing  the m achin eryo rsome asp ects o f  i ts  operat io n resp on siv e t o tha t  ori entati on.
An a lgori t hmic source of computing ori e nt a t io n  rel ati ve to a gro undb eaco n ar r ay  (f i ducia ries)  m a yb e found in Egli's U .S . Pat.  No.4,866,626. Th ese algori t h m s provid e an ex a mple of possib le me thods to d e rive YPR  info rmationby compar i n g knownele men tsina n  i mage to a new l y  acq ui red ima ge. 
All th ose  so lut ion ssuffer th e disadv an ta ge  o f r equir i ng train in g o rpla cingo bjects  in t he e nv ir o nme nt. Iff or e xamp le  o ne o f t he  uses  oft hesystemis enteri ngi ntoan  e nvironm ent for the f ir st time, s uc h a s by a s hip ente ring a new port, or ana irplane  fl yingover  new terr ain , or a  co m bat te am ent ering  a  ho s t ile e n v ir onm en t, the sol u t ion s pro vi dedare imp ractical. There is the refore a clea r a nd u n a ns wer e dn eed  f o r a s ystem that will  provide L OR da ta in a fa s t a nd  effici ent man ner a n d at re asonablylow cost.  T he p r e sen t inventio n aim at  providin g  an a p pa ratus  an d a me th odfor a nsweri n g t his n eed. 1 .Fieldof th eInventio n
The present invention  relat es to  va riable di spl a cem ent compr esso rs in auto mot ive  aircon d ition ings ys tem s , and  mor e  particul a rl y,t o  s lant plant- t y p e v ariab led isplac emen t compressors wit h  capacity cont rolm e cha nis m s.
2 .Description of  Re la t e d Art
Sl an t plate-typ e variab le displ acemen t comp ressors h av i ng cap acit y c ontrol me cha ni s ms arekn ow n  in th e ar t.  For e xample ,  Jap a n ese Second Paten t Pub l i catio n  (E xamin ed ) No. 5 - 8375 1 describe s a slant p late-t ypecompr essor,mo re par tic ul arly, a wo b ble plate -type  compre ss or h avi ng a v aria b l e dis plac em ent  controlm e ch a ni sm inan a utomo ti ve a ir condit i oning sy ste m . In su ch  au t o motive ai r conditioni ngsyste m s , the comp r esso r  i s  driv en byan eng ine ofa  ve hi cle.
Th isw o bble plat e-type co m pre ss or i ncludesavalv emem be r and a first p assage,which co m m unicat esb etwe e n a cr an k chamber an d a
 computer_assisted methods_for determining position and_orientation are_provided._The methods_include_sensing an image_of the scene_and comparing the sensed_image to previously_captured_images of the scene. This method requires the use of an image map composed_of_previously captured_images_of_the environment and is not_practicable in many applications.
U.S. Pat._No. 4,672,562_is representative of the fiduciary based system, where_a_target point array_is placed in fixed relation to an object. Spatial_information of the object is derived_from an image_in_correspondence_to the target points.
U.S._Pat. No. 6,285,930 to Dickson et_al. teaches an image based method_for sensing the orientation of crop rows_relative to agricultural machinery and controlling_the machinery or some aspects_of its_operation responsive to that orientation.
An_algorithmic source of_computing orientation_relative to a_ground beacon array (fiduciaries) may be_found in Egli's_U.S. Pat. No. 4,866,626. These algorithms_provide_an example of_possible_methods_to derive_YPR information by_comparing_known elements_in_an image to a newly acquired_image.
All_those solutions suffer the disadvantage of requiring_training or placing objects_in_the environment. If for_example one of the uses_of the system is entering into_an environment_for the_first time, such as by a ship entering a new port,_or an airplane flying over new_terrain, or a combat_team entering_a_hostile environment, the_solutions_provided are_impractical. There is therefore a clear and_unanswered need_for a system that will provide_LOR data in a_fast_and efficient manner and at reasonably_low cost. The present invention aim_at providing an apparatus and_a_method_for answering this need. 1._Field of the Invention
The present invention_relates to variable_displacement compressors in automotive air conditioning systems,_and_more particularly, to slant plant-type variable_displacement_compressors with capacity control mechanisms.
2. Description_of_Related_Art
Slant plate-type variable displacement compressors_having capacity control mechanisms are known_in the art. For example, Japanese Second Patent Publication_(Examined) No. 5-83751_describes a slant plate-type compressor,_more_particularly,_a wobble plate-type compressor having a variable displacement control mechanism_in an_automotive air conditioning_system. In such automotive air conditioning systems, the compressor is_driven by an engine of a vehicle.
This_wobble plate-type compressor includes a valve member and a first passage,_which communicates between a crank chamber and a