BR112016019593B1 - Aparelho de cálculo de autoposição e método de cálculo de autoposição - Google Patents

Aparelho de cálculo de autoposição e método de cálculo de autoposição Download PDF

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Publication number
BR112016019593B1
BR112016019593B1 BR112016019593-0A BR112016019593A BR112016019593B1 BR 112016019593 B1 BR112016019593 B1 BR 112016019593B1 BR 112016019593 A BR112016019593 A BR 112016019593A BR 112016019593 B1 BR112016019593 B1 BR 112016019593B1
Authority
BR
Brazil
Prior art keywords
light beam
vehicle
projected
road surface
patterned
Prior art date
Application number
BR112016019593-0A
Other languages
English (en)
Portuguese (pt)
Other versions
BR112016019593A2 (cg-RX-API-DMAC7.html
Inventor
Ichiro Yamaguchi
Hidekazu Nishiuchi
Original Assignee
Nissan Motor Co. Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nissan Motor Co. Ltd filed Critical Nissan Motor Co. Ltd
Publication of BR112016019593A2 publication Critical patent/BR112016019593A2/pt
Publication of BR112016019593B1 publication Critical patent/BR112016019593B1/pt

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/24—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
    • B60Q1/249—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead for illuminating the field of view of a sensor or camera
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10141—Special mode during image acquisition
    • G06T2207/10152—Varying illumination
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
BR112016019593-0A 2014-02-24 2014-02-24 Aparelho de cálculo de autoposição e método de cálculo de autoposição BR112016019593B1 (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/054317 WO2015125301A1 (ja) 2014-02-24 2014-02-24 自己位置算出装置及び自己位置算出方法

Publications (2)

Publication Number Publication Date
BR112016019593A2 BR112016019593A2 (cg-RX-API-DMAC7.html) 2017-08-15
BR112016019593B1 true BR112016019593B1 (pt) 2022-06-07

Family

ID=53877834

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112016019593-0A BR112016019593B1 (pt) 2014-02-24 2014-02-24 Aparelho de cálculo de autoposição e método de cálculo de autoposição

Country Status (8)

Country Link
US (1) US9778029B2 (cg-RX-API-DMAC7.html)
EP (1) EP3113150B1 (cg-RX-API-DMAC7.html)
JP (1) JP6187672B2 (cg-RX-API-DMAC7.html)
CN (1) CN106030680B (cg-RX-API-DMAC7.html)
BR (1) BR112016019593B1 (cg-RX-API-DMAC7.html)
MX (1) MX349166B (cg-RX-API-DMAC7.html)
RU (1) RU2621826C1 (cg-RX-API-DMAC7.html)
WO (1) WO2015125301A1 (cg-RX-API-DMAC7.html)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6299319B2 (ja) * 2014-03-25 2018-03-28 日産自動車株式会社 自己位置算出装置及び自己位置算出方法
CN110682855B (zh) 2015-04-10 2023-04-18 麦克赛尔株式会社 车辆
GB2548827B (en) * 2016-03-25 2020-09-23 Jaguar Land Rover Ltd Apparatus, system, method and computer program for providing lighting of a vehicle
JP6601352B2 (ja) * 2016-09-15 2019-11-06 株式会社デンソー 車両姿勢推定装置
GB201700071D0 (en) * 2017-01-04 2017-02-15 Yarwood Michael S Vehicle safety systems
CN110959143B (zh) * 2017-08-04 2023-09-22 索尼公司 信息处理装置、信息处理方法、程序和移动体
DE112018003986T5 (de) * 2017-08-04 2020-04-16 Sony Corporation Steuervorrichtung, steuerverfahren, programm und mobileinheit
US11221631B2 (en) 2019-04-24 2022-01-11 Innovation First, Inc. Performance arena for robots with position location system
CN115004274A (zh) * 2020-01-14 2022-09-02 京瓷株式会社 图像处理装置、拍摄装置、信息处理装置、检测装置、路侧机、图像处理方法及校正方法
DE102020101710B4 (de) 2020-01-24 2021-09-02 Audi Aktiengesellschaft Verfahren zur Beleuchtung eines Fahrzeugumfeldes und Kraftfahrzeug
DE102020007645A1 (de) * 2020-04-03 2021-10-07 Daimler Ag Verfahren zur Kalibrierung eines Lidarsensors
CN112288799B (zh) * 2020-09-22 2024-08-13 上海擎朗智能科技有限公司 一种行驶设备的定位方法、装置、设备及存储介质

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US3414213A (en) * 1966-05-13 1968-12-03 Bendix Corp Internal reflection temperature controlled sun sensor
JPH06325298A (ja) * 1993-05-13 1994-11-25 Yazaki Corp 車両周辺監視装置
RU2247921C2 (ru) * 2002-06-26 2005-03-10 Анцыгин Александр Витальевич Способ ориентирования на местности и устройство для его осуществления
JP2004198211A (ja) 2002-12-18 2004-07-15 Aisin Seiki Co Ltd 移動体周辺監視装置
JP2004198212A (ja) 2002-12-18 2004-07-15 Aisin Seiki Co Ltd 移動体周辺監視装置
JP5151050B2 (ja) * 2006-03-23 2013-02-27 日産自動車株式会社 車両用環境認識装置及び車両用環境認識方法
JP4780614B2 (ja) 2006-04-10 2011-09-28 アルパイン株式会社 車体挙動測定装置
JP4914726B2 (ja) 2007-01-19 2012-04-11 クラリオン株式会社 現在位置算出装置、現在位置算出方法
JP5251419B2 (ja) 2008-10-22 2013-07-31 日産自動車株式会社 距離計測装置および距離計測方法
US8692980B2 (en) * 2010-11-01 2014-04-08 Advanced Scientific Concepts, Inc. Flash LADAR collision avoidance system
RU2611289C2 (ru) * 2010-12-22 2017-02-21 Филипс Лайтинг Холдинг Б.В. Система позиционирования и направления транспортных средств
WO2012172870A1 (ja) * 2011-06-14 2012-12-20 日産自動車株式会社 距離計測装置及び環境地図生成装置
JP2013147114A (ja) * 2012-01-18 2013-08-01 Toyota Motor Corp 周辺環境取得装置およびサスペンション制御装置
JP5992184B2 (ja) * 2012-03-09 2016-09-14 株式会社トプコン 画像データ処理装置、画像データ処理方法および画像データ処理用のプログラム
JP5857224B2 (ja) * 2012-03-30 2016-02-10 パナソニックＩｐマネジメント株式会社 駐車支援装置、及び駐車支援方法

Also Published As

Publication number Publication date
BR112016019593A2 (cg-RX-API-DMAC7.html) 2017-08-15
JP6187672B2 (ja) 2017-08-30
JPWO2015125301A1 (ja) 2017-03-30
EP3113150B1 (en) 2018-06-27
MX2016010741A (es) 2016-10-26
RU2621826C1 (ru) 2017-06-07
MX349166B (es) 2017-07-17
WO2015125301A1 (ja) 2015-08-27
EP3113150A1 (en) 2017-01-04
CN106030680A (zh) 2016-10-12
EP3113150A4 (en) 2017-04-19
US9778029B2 (en) 2017-10-03
US20170018087A1 (en) 2017-01-19
CN106030680B (zh) 2017-09-19

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Legal Events

Date Code Title Description
B08F Application dismissed because of non-payment of annual fees [chapter 8.6 patent gazette]
B08H Application fees: decision cancelled [chapter 8.8 patent gazette]
B15G Petition not considered as such [chapter 15.7 patent gazette]
B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B350 Update of information on the portal [chapter 15.35 patent gazette]
B350 Update of information on the portal [chapter 15.35 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 24/02/2014, OBSERVADAS AS CONDICOES LEGAIS

B21F Lapse acc. art. 78, item iv - on non-payment of the annual fees in time

Free format text: REFERENTE A 12A ANUIDADE.

B24J Lapse because of non-payment of annual fees (definitively: art 78 iv lpi, resolution 113/2013 art. 12)

Free format text: EM VIRTUDE DA EXTINCAO PUBLICADA NA RPI 2868 DE 23-12-2025 E CONSIDERANDO AUSENCIA DE MANIFESTACAO DENTRO DOS PRAZOS LEGAIS, INFORMO QUE CABE SER MANTIDA A EXTINCAO DA PATENTE E SEUS CERTIFICADOS, CONFORME O DISPOSTO NO ARTIGO 12, DA RESOLUCAO 113/2013.