EP4004581A1 - Production de données de référence non sémantiques pour déterminer la position d'un véhicule à moteur - Google Patents

Production de données de référence non sémantiques pour déterminer la position d'un véhicule à moteur

Info

Publication number
EP4004581A1
EP4004581A1 EP20735552.0A EP20735552A EP4004581A1 EP 4004581 A1 EP4004581 A1 EP 4004581A1 EP 20735552 A EP20735552 A EP 20735552A EP 4004581 A1 EP4004581 A1 EP 4004581A1
Authority
EP
European Patent Office
Prior art keywords
raw data
point cluster
point
data points
cluster
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
EP20735552.0A
Other languages
German (de)
English (en)
Inventor
Constanze HUNGAR
Daniel WILBERS
Bernd Rech
Niklas KOCH
Stefan Juergens
Christian MERFELS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MAN Truck and Bus SE
Volkswagen AG
Original Assignee
MAN Truck and Bus SE
Volkswagen AG
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 MAN Truck and Bus SE, Volkswagen AG filed Critical MAN Truck and Bus SE
Publication of EP4004581A1 publication Critical patent/EP4004581A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/906—Clustering; Classification
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/23—Clustering techniques
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/28—Determining representative reference patterns, e.g. by averaging or distorting; Generating dictionaries
    • 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
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • 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
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • G06T2207/10044—Radar image
    • 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)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Data Mining & Analysis (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • Evolutionary Computation (AREA)
  • Databases & Information Systems (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Navigation (AREA)

Abstract

Selon un procédé mis en œuvre par ordinateur et destiné à produire des données de référence sémantiques permettant de déterminer la position d'un véhicule à moteur (6), un jeu de points de données brutes (7), qui reproduit une zone environnante (11) prédéfinie, est préparé. Un descripteur prédéfini qui caractérise une propriété de la zone environnante (11) est déterminé pour chacun des points de données brutes. Au moins une grappe de points (9a, 9b, 9c, 9d, 9e, 9f) est produite, du fait que les points de données brutes (7) sont groupés en fonction de leurs descripteurs. Un indice caractéristique qui concerne un apport d'information pour effectuer la détermination de la position d'un véhicule à moteur (6) est associé à une première grappe de points en fonction des descripteurs des points de données brutes (7). En fonction de l'indice caractéristique, des informations caractéristiques de la première grappe de points sont mémorisées en tant que données de référence non sémantiques pour déterminer la position sur une unité de stockage (10).
EP20735552.0A 2019-07-23 2020-06-29 Production de données de référence non sémantiques pour déterminer la position d'un véhicule à moteur Pending EP4004581A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019119852.6A DE102019119852A1 (de) 2019-07-23 2019-07-23 Erzeugen nicht-semantischer Referenzdaten zur Positionsbestimmung eines Kraftfahrzeugs
PCT/EP2020/068242 WO2021013475A1 (fr) 2019-07-23 2020-06-29 Production de données de référence non sémantiques pour déterminer la position d'un véhicule à moteur

Publications (1)

Publication Number Publication Date
EP4004581A1 true EP4004581A1 (fr) 2022-06-01

Family

ID=71409410

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20735552.0A Pending EP4004581A1 (fr) 2019-07-23 2020-06-29 Production de données de référence non sémantiques pour déterminer la position d'un véhicule à moteur

Country Status (5)

Country Link
US (1) US20220262034A1 (fr)
EP (1) EP4004581A1 (fr)
CN (1) CN114144816A (fr)
DE (1) DE102019119852A1 (fr)
WO (1) WO2021013475A1 (fr)

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7433509B1 (en) * 2001-10-09 2008-10-07 Nanometrics Incorporated Method for automatic de-skewing of multiple layer wafer for improved pattern recognition
JP4685501B2 (ja) * 2004-07-07 2011-05-18 株式会社エヌ・ティ・ティ・ドコモ チャネル割り当て方法
US8791996B2 (en) * 2010-03-31 2014-07-29 Aisin Aw Co., Ltd. Image processing system and position measurement system
US20130173225A1 (en) * 2011-04-29 2013-07-04 Thomson Licensing Method for sampling mesh models and apparatus for sampling mesh models
US20170242443A1 (en) * 2015-11-02 2017-08-24 Peloton Technology, Inc. Gap measurement for vehicle convoying
US9488492B2 (en) * 2014-03-18 2016-11-08 Sri International Real-time system for multi-modal 3D geospatial mapping, object recognition, scene annotation and analytics
US9311899B2 (en) * 2012-10-12 2016-04-12 International Business Machines Corporation Detecting and describing visible features on a visualization
US10706384B1 (en) * 2013-02-07 2020-07-07 United Parcel Service Of America, Inc. Systems and methods for synchronized delivery
US9129189B2 (en) * 2013-08-14 2015-09-08 Qualcomm Incorporated Performing vocabulary-based visual search using multi-resolution feature descriptors
US10586163B1 (en) * 2014-06-06 2020-03-10 Mmsr, Llc Geographic locale mapping system for outcome prediction
US9664779B2 (en) * 2014-07-03 2017-05-30 GM Global Technology Operations LLC Object classification for vehicle radar systems
EP3290864A1 (fr) * 2016-08-30 2018-03-07 Continental Automotive GmbH Systeme d'assistance au conducteur destine a determiner une position d'un vehicule
US10935978B2 (en) * 2017-10-30 2021-03-02 Nio Usa, Inc. Vehicle self-localization using particle filters and visual odometry
US11138037B2 (en) * 2017-11-02 2021-10-05 Mediatek Inc. Switch policy for hybrid scheduling in multi-processor systems
US10846511B2 (en) * 2018-12-20 2020-11-24 Here Global B.V. Automatic detection and positioning of pole-like objects in 3D
KR102376709B1 (ko) * 2019-01-30 2022-03-18 바이두닷컴 타임즈 테크놀로지(베이징) 컴퍼니 리미티드 자율 주행 차량을 위한 포인트 클라우드 등록 시스템
US11468690B2 (en) * 2019-01-30 2022-10-11 Baidu Usa Llc Map partition system for autonomous vehicles
US11816997B2 (en) * 2021-04-29 2023-11-14 Ge Aviation Systems Llc Demand driven crowdsourcing for UAV sensor

Also Published As

Publication number Publication date
DE102019119852A1 (de) 2021-01-28
CN114144816A (zh) 2022-03-04
US20220262034A1 (en) 2022-08-18
WO2021013475A1 (fr) 2021-01-28

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