BR112017002129A2 - aparelho de cálculo de autoposição e método de cálculo de autoposição - Google Patents

aparelho de cálculo de autoposição e método de cálculo de autoposição

Info

Publication number
BR112017002129A2
BR112017002129A2 BR112017002129A BR112017002129A BR112017002129A2 BR 112017002129 A2 BR112017002129 A2 BR 112017002129A2 BR 112017002129 A BR112017002129 A BR 112017002129A BR 112017002129 A BR112017002129 A BR 112017002129A BR 112017002129 A2 BR112017002129 A2 BR 112017002129A2
Authority
BR
Brazil
Prior art keywords
light beam
vehicle
self
image
road surface
Prior art date
Application number
BR112017002129A
Other languages
English (en)
Other versions
BR112017002129B1 (pt
Inventor
Nishiuchi Hidekazu
Yamaguchi Ichiro
Matsumoto Jum
Hiraizumi Norihisa
Original Assignee
Nissan Motor
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 filed Critical Nissan Motor
Publication of BR112017002129A2 publication Critical patent/BR112017002129A2/pt
Publication of BR112017002129B1 publication Critical patent/BR112017002129B1/pt

Links

Classifications

    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G06T2207/30204—Marker
    • G06T2207/30208—Marker matrix
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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; CALCULATING OR 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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Automation & Control Theory (AREA)
  • Signal Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Navigation (AREA)
  • Image Processing (AREA)
  • Traffic Control Systems (AREA)

Abstract

resumo ?aparelho de cálculo de autoposição e método de cálculo de autoposição? a presente invenção refere-se a um aparelho de cálculo de autoposição que tem capacidade para detectar precisamente um feixe de luz padronizado projetado sobre uma superfície de estrada, e que tem capacidade para calcular precisamente a autoposição de um veículo. o aparelho de cálculo de autoposição inclui: um projetor de luz (11) configurado para projetar o feixe de luz padronizado sobre a superfície de estrada ao redor de um veículo; uma unidade de captura de imagem (12) configurada para capturar uma imagem de uma área sobre a qual o feixe de luz padronizado é projetado; um extrator de feixe de luz padronizado (21) configurado para extrair uma posição do feixe de luz padronizado da imagem; um calculador de ângulo de orientação (22) configurado para calcular um ângulo de orientação do veículo em relação à superfície de estrada a partir da posição do feixe de luz padronizado; um calculador de quantidade de alteração de orientação (24) configurado para calcular uma quantidade de alteração na orientação do veículo com base nas alterações temporais em múltiplos pontos característicos na superfície de estrada na imagem; e um calculador de autoposição (26) configurado para calcular uma posição atual e um ângulo de orientação atual do veículo adicionando-se a quantidade de alteração na orientação a uma posição inicial e um ângulo de orientação inicial do veículo. se uma condição detectada do feixe de luz padronizado for igual ou maior que um valor limiar, o extrator de feixe de luz padronizado (21) extrai a posição do feixe de luz padronizado de uma imagem sobreposta sobrepondo-se as imagens em quadros obtidos com a unidade de captura de imagem (12).
BR112017002129-3A 2014-08-04 2014-08-04 Aparelho de cálculo de autoposição e método de cálculo de autoposição BR112017002129B1 (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/070480 WO2016020970A1 (ja) 2014-08-04 2014-08-04 自己位置算出装置及び自己位置算出方法

Publications (2)

Publication Number Publication Date
BR112017002129A2 true BR112017002129A2 (pt) 2017-11-21
BR112017002129B1 BR112017002129B1 (pt) 2022-01-04

Family

ID=55263277

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112017002129-3A BR112017002129B1 (pt) 2014-08-04 2014-08-04 Aparelho de cálculo de autoposição e método de cálculo de autoposição

Country Status (8)

Country Link
US (1) US9933252B2 (pt)
EP (1) EP3179462B1 (pt)
JP (1) JP6269838B2 (pt)
CN (1) CN106663376B (pt)
BR (1) BR112017002129B1 (pt)
MX (1) MX357830B (pt)
RU (1) RU2636235C1 (pt)
WO (1) WO2016020970A1 (pt)

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JP7124424B2 (ja) * 2018-05-02 2022-08-24 オムロン株式会社 ３次元形状計測システム及び計測時間設定方法
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DE102020124785A1 (de) 2020-09-23 2022-03-24 Connaught Electronics Ltd. Verfahren zum Überwachen eines Fokus einer an einem Kraftfahrzeug angeordneten Kamera, Computerprogrammprodukt, computerlesbares Speichermedium sowie System
DE102022206404A1 (de) * 2021-07-19 2023-01-19 Robert Bosch Engineering And Business Solutions Private Limited Ein System, das dazu angepasst ist, einen Straßenzustand in einem Fahrzeug zu erkennen, und ein Verfahren dafür
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Also Published As

Publication number Publication date
MX357830B (es) 2018-07-26
WO2016020970A1 (ja) 2016-02-11
EP3179462A4 (en) 2017-08-30
JP6269838B2 (ja) 2018-01-31
CN106663376B (zh) 2018-04-06
MX2017001248A (es) 2017-05-01
US20170261315A1 (en) 2017-09-14
CN106663376A (zh) 2017-05-10
RU2636235C1 (ru) 2017-11-21
US9933252B2 (en) 2018-04-03
EP3179462B1 (en) 2018-10-31
JPWO2016020970A1 (ja) 2017-05-25
EP3179462A1 (en) 2017-06-14
BR112017002129B1 (pt) 2022-01-04

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Legal Events

Date Code Title Description
B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 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 04/08/2014, OBSERVADAS AS CONDICOES LEGAIS.