FR2847699B1 - Vehicule autonome, et procede et appareil pour estimer son mouvement et detecter une information tridimensionnelle d'un objet apparaissant devant lui - Google Patents

Vehicule autonome, et procede et appareil pour estimer son mouvement et detecter une information tridimensionnelle d'un objet apparaissant devant lui

Info

Publication number
FR2847699B1
FR2847699B1 FR0306170A FR0306170A FR2847699B1 FR 2847699 B1 FR2847699 B1 FR 2847699B1 FR 0306170 A FR0306170 A FR 0306170A FR 0306170 A FR0306170 A FR 0306170A FR 2847699 B1 FR2847699 B1 FR 2847699B1
Authority
FR
France
Prior art keywords
estimating
detecting
movement
autonomous vehicle
dimensional information
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.)
Expired - Fee Related
Application number
FR0306170A
Other languages
English (en)
Other versions
FR2847699A1 (fr
Inventor
Kyoung Sig Roh
Young Son
Joo Young Kwak
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.)
Samsung Electronics Co Ltd
Original Assignee
Samsung Electronics 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 Samsung Electronics Co Ltd filed Critical Samsung Electronics Co Ltd
Publication of FR2847699A1 publication Critical patent/FR2847699A1/fr
Application granted granted Critical
Publication of FR2847699B1 publication Critical patent/FR2847699B1/fr
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/147—Details of sensors, e.g. sensor lenses
    • 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
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Multimedia (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Vascular Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Graphics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
FR0306170A 2002-11-21 2003-05-22 Vehicule autonome, et procede et appareil pour estimer son mouvement et detecter une information tridimensionnelle d'un objet apparaissant devant lui Expired - Fee Related FR2847699B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR10-2002-0072696A KR100446636B1 (ko) 2002-11-21 2002-11-21 이동체의 움직임 및 이동체 전방에 위치한 물체의 3차원정보 측정 기능을 구비한 이동체 및 그 방법

Publications (2)

Publication Number Publication Date
FR2847699A1 FR2847699A1 (fr) 2004-05-28
FR2847699B1 true FR2847699B1 (fr) 2007-03-09

Family

ID=32291809

Family Applications (1)

Application Number Title Priority Date Filing Date
FR0306170A Expired - Fee Related FR2847699B1 (fr) 2002-11-21 2003-05-22 Vehicule autonome, et procede et appareil pour estimer son mouvement et detecter une information tridimensionnelle d'un objet apparaissant devant lui

Country Status (4)

Country Link
US (1) US7440585B2 (fr)
KR (1) KR100446636B1 (fr)
DE (1) DE10326943B4 (fr)
FR (1) FR2847699B1 (fr)

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Also Published As

Publication number Publication date
FR2847699A1 (fr) 2004-05-28
US20040101161A1 (en) 2004-05-27
DE10326943A1 (de) 2004-06-17
DE10326943B4 (de) 2019-09-12
KR100446636B1 (ko) 2004-09-04
US7440585B2 (en) 2008-10-21
KR20040044621A (ko) 2004-05-31

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