CN108450034B - 基于图像的车辆测位系统及方法 - Google Patents

基于图像的车辆测位系统及方法 Download PDF

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CN108450034B
CN108450034B CN201680073314.1A CN201680073314A CN108450034B CN 108450034 B CN108450034 B CN 108450034B CN 201680073314 A CN201680073314 A CN 201680073314A CN 108450034 B CN108450034 B CN 108450034B
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map data
camera image
vehicle
dimensional map
edge
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CN108450034A (zh
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B·海斯勒
A·塔利米
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Honda Motor Co Ltd
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    • 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
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • 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 OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • G06V20/647—Three-dimensional objects by matching two-dimensional images to three-dimensional objects
    • 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
    • G06T2207/10016—Video; Image sequence
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Computer Graphics (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Instructional Devices (AREA)
CN201680073314.1A 2015-12-15 2016-12-14 基于图像的车辆测位系统及方法 Active CN108450034B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US14/970,251 2015-12-15
US14/970,251 US9727793B2 (en) 2015-12-15 2015-12-15 System and method for image based vehicle localization
PCT/US2016/066632 WO2017106327A1 (en) 2015-12-15 2016-12-14 System and method for image based vehicle localization

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CN108450034A CN108450034A (zh) 2018-08-24
CN108450034B true CN108450034B (zh) 2022-02-11

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US (1) US9727793B2 (enExample)
JP (1) JP6946298B2 (enExample)
CN (1) CN108450034B (enExample)
DE (1) DE112016005735T5 (enExample)
WO (1) WO2017106327A1 (enExample)

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Publication number Publication date
CN108450034A (zh) 2018-08-24
WO2017106327A1 (en) 2017-06-22
US20170169300A1 (en) 2017-06-15
US9727793B2 (en) 2017-08-08
DE112016005735T5 (de) 2018-10-04
JP6946298B2 (ja) 2021-10-06
JP2019500602A (ja) 2019-01-10

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