EP4260154A1 - Localisation basée sur des objets sémantiques - Google Patents
Localisation basée sur des objets sémantiquesInfo
- Publication number
- EP4260154A1 EP4260154A1 EP21904119.1A EP21904119A EP4260154A1 EP 4260154 A1 EP4260154 A1 EP 4260154A1 EP 21904119 A EP21904119 A EP 21904119A EP 4260154 A1 EP4260154 A1 EP 4260154A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- data
- sensor
- map
- determining
- distance
- 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
Links
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Classifications
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- 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
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
-
- 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
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
Abstract
L'invention concerne des techniques permettant de déterminer un emplacement d'un véhicule dans un environnement à l'aide de capteurs et de déterminer des informations d'étalonnage associées aux capteurs. Un véhicule peut utiliser des données cartographiques pour traverser un environnement. Les données cartographiques peuvent comprendre des objets cartographiques sémantiques tels que des feux de circulation, des marquages de voies et autres. Le véhicule peut utiliser un capteur, tel qu'un capteur d'images, pour capturer des données de capteur. Des objets cartographiques sémantiques peuvent être projetés dans les données de capteur et mis en correspondance avec le ou les objets dans les données de capteur. De tels objets sémantiques peuvent être représentés sous la forme d'un point central et de données de covariance. Une distance ou une probabilité associée à l'objet cartographique sémantique projeté et à l'objet détecté peut être optimisée pour déterminer un emplacement du véhicule. Des objets détectés peuvent être déterminés comme étant les mêmes sur la base de la mise en correspondance avec l'objet cartographique sémantique. Une géométrie épipolaire peut être utilisée pour déterminer si des capteurs capturent des données cohérentes.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US17/119,518 US11538185B2 (en) | 2020-12-11 | 2020-12-11 | Localization based on semantic objects |
| US17/119,562 US20220185331A1 (en) | 2020-12-11 | 2020-12-11 | Calibration based on semantic objects |
| PCT/US2021/060997 WO2022125322A1 (fr) | 2020-12-11 | 2021-11-29 | Localisation basée sur des objets sémantiques |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| EP4260154A1 true EP4260154A1 (fr) | 2023-10-18 |
Family
ID=81974049
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP21904119.1A Pending EP4260154A1 (fr) | 2020-12-11 | 2021-11-29 | Localisation basée sur des objets sémantiques |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP4260154A1 (fr) |
| JP (1) | JP2023553238A (fr) |
| CN (1) | CN116324928A (fr) |
| WO (1) | WO2022125322A1 (fr) |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10809361B2 (en) * | 2017-05-31 | 2020-10-20 | Uatc, Llc | Hybrid-view LIDAR-based object detection |
| US11003945B2 (en) * | 2019-05-22 | 2021-05-11 | Zoox, Inc. | Localization using semantically segmented images |
| US11170485B2 (en) * | 2019-05-22 | 2021-11-09 | Here Global B.V. | Method, apparatus, and system for automatic quality assessment of cross view feature correspondences using bundle adjustment techniques |
-
2021
- 2021-11-29 WO PCT/US2021/060997 patent/WO2022125322A1/fr active Application Filing
- 2021-11-29 EP EP21904119.1A patent/EP4260154A1/fr active Pending
- 2021-11-29 CN CN202180066759.8A patent/CN116324928A/zh active Pending
- 2021-11-29 JP JP2023517891A patent/JP2023553238A/ja active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022125322A1 (fr) | 2022-06-16 |
| JP2023553238A (ja) | 2023-12-21 |
| CN116324928A (zh) | 2023-06-23 |
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Legal Events
| Date | Code | Title | Description |
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| STAA | Information on the status of an ep patent application or granted ep patent |
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| PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
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| STAA | Information on the status of an ep patent application or granted ep patent |
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| 17P | Request for examination filed |
Effective date: 20230120 |
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