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 luiInfo
- 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
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)
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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JP3433204B2 (ja) * | 2000-04-27 | 2003-08-04 | 株式会社東北テクノアーチ | 3次元モデル構成装置 |
US7802193B1 (en) | 2001-12-19 | 2010-09-21 | Sandia Corporation | Controlling motion using a human machine interface |
US7376262B2 (en) * | 2003-08-04 | 2008-05-20 | American Gnc Corporation | Method of three dimensional positioning using feature matching |
US8275193B2 (en) * | 2004-08-04 | 2012-09-25 | America Gnc Corporation | Miniaturized GPS/MEMS IMU integrated board |
US8121392B2 (en) * | 2004-10-25 | 2012-02-21 | Parata Systems, Llc | Embedded imaging and control system |
JP4480083B2 (ja) * | 2005-02-23 | 2010-06-16 | アイシン精機株式会社 | 物体認識装置 |
SE530384C2 (sv) * | 2006-02-17 | 2008-05-20 | Totalfoersvarets Forskningsins | Metod för fjärrstyrning av en obemannad markfarkost med rörlig kamera samt en sådan markfarkost |
US8826959B2 (en) * | 2006-06-29 | 2014-09-09 | Graphic Packaging International, Inc. | Heat sealing systems and methods, and related articles and materials |
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US7974460B2 (en) * | 2007-02-06 | 2011-07-05 | Honeywell International Inc. | Method and system for three-dimensional obstacle mapping for navigation of autonomous vehicles |
KR100952574B1 (ko) * | 2007-12-24 | 2010-04-12 | 중앙대학교 산학협력단 | 로봇 기반 입체 디스플레이 장치 및 방법 |
US8487991B2 (en) * | 2008-04-24 | 2013-07-16 | GM Global Technology Operations LLC | Clear path detection using a vanishing point |
US8605947B2 (en) * | 2008-04-24 | 2013-12-10 | GM Global Technology Operations LLC | Method for detecting a clear path of travel for a vehicle enhanced by object detection |
US8421859B2 (en) * | 2008-04-24 | 2013-04-16 | GM Global Technology Operations LLC | Clear path detection using a hierachical approach |
US8428305B2 (en) * | 2008-04-24 | 2013-04-23 | GM Global Technology Operations LLC | Method for detecting a clear path through topographical variation analysis |
US8332134B2 (en) * | 2008-04-24 | 2012-12-11 | GM Global Technology Operations LLC | Three-dimensional LIDAR-based clear path detection |
US8890951B2 (en) * | 2008-04-24 | 2014-11-18 | GM Global Technology Operations LLC | Clear path detection with patch smoothing approach |
US8917904B2 (en) * | 2008-04-24 | 2014-12-23 | GM Global Technology Operations LLC | Vehicle clear path detection |
US8634593B2 (en) * | 2008-04-24 | 2014-01-21 | GM Global Technology Operations LLC | Pixel-based texture-less clear path detection |
US8670592B2 (en) * | 2008-04-24 | 2014-03-11 | GM Global Technology Operations LLC | Clear path detection using segmentation-based method |
US8699754B2 (en) * | 2008-04-24 | 2014-04-15 | GM Global Technology Operations LLC | Clear path detection through road modeling |
US8751154B2 (en) * | 2008-04-24 | 2014-06-10 | GM Global Technology Operations LLC | Enhanced clear path detection in the presence of traffic infrastructure indicator |
US8611585B2 (en) * | 2008-04-24 | 2013-12-17 | GM Global Technology Operations LLC | Clear path detection using patch approach |
US8452053B2 (en) * | 2008-04-24 | 2013-05-28 | GM Global Technology Operations LLC | Pixel-based texture-rich clear path detection |
US8803966B2 (en) * | 2008-04-24 | 2014-08-12 | GM Global Technology Operations LLC | Clear path detection using an example-based approach |
JP5107154B2 (ja) * | 2008-06-23 | 2012-12-26 | アイドゲノッシッシェ テヒニッシェ ホッホシューレ チューリッヒ | 運動推定装置 |
DE102011113265B3 (de) * | 2011-09-13 | 2012-11-08 | Audi Ag | Verfahren zur Bildverarbeitung von mit einem optischen Sensor in einem Kraftfahrzeug aufgenommenen Bilddaten und Kraftfahrzeug |
US8559727B1 (en) * | 2012-04-09 | 2013-10-15 | GM Global Technology Operations LLC | Temporal coherence in clear path detection |
US9025859B2 (en) | 2012-07-30 | 2015-05-05 | Qualcomm Incorporated | Inertial sensor aided instant autofocus |
US8903163B2 (en) * | 2012-08-09 | 2014-12-02 | Trimble Navigation Limited | Using gravity measurements within a photogrammetric adjustment |
ES2478700B1 (es) * | 2013-01-21 | 2015-06-30 | Idneo Technologies, S.L. | Sistema y método para la detección de obstáculos |
DE102013203404A1 (de) | 2013-02-28 | 2014-08-28 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur dreidimensionalen Abbildung zumindest eines Teilbereichs eines Fahrzeugumfelds |
US9070202B2 (en) * | 2013-03-14 | 2015-06-30 | Nec Laboratories America, Inc. | Moving object localization in 3D using a single camera |
US9201424B1 (en) | 2013-08-27 | 2015-12-01 | Google Inc. | Camera calibration using structure from motion techniques |
US9989967B2 (en) | 2014-03-04 | 2018-06-05 | Cybernet Systems Corporation | All weather autonomously driven vehicles |
JP6312519B2 (ja) * | 2014-05-13 | 2018-04-18 | キヤノン株式会社 | 撮像装置、その制御方法、及びプログラム |
DE102014110201B3 (de) * | 2014-07-21 | 2015-08-13 | Miele & Cie. Kg | Selbstfahrender Roboter und Verfahren zur Hinderniserkennung bei einem selbstfahrenden Roboter |
DE102015205088C5 (de) | 2015-03-20 | 2024-09-26 | Kuka Deutschland Gmbh | Verfahren zum Ermitteln eines Kalibrierungsparameters eines Fahrzeuges sowie Fahrzeug hierzu |
US9596666B1 (en) * | 2015-12-11 | 2017-03-14 | Uber Technologies, Inc. | System for processing asynchronous sensor data |
US9537956B1 (en) | 2015-12-11 | 2017-01-03 | Uber Technologies, Inc. | System for acquiring time-synchronized sensor data |
US10101747B2 (en) | 2015-12-11 | 2018-10-16 | Uber Technologies, Inc. | Formatting sensor data for use in autonomous vehicle communications platform |
US9785150B2 (en) | 2015-12-11 | 2017-10-10 | Uber Technologies, Inc. | Formatting sensor data for use in autonomous vehicle communications platform |
US10114103B2 (en) | 2016-03-31 | 2018-10-30 | Uber Technologies, Inc. | System and method for sensor triggering for synchronized operation |
US10288458B2 (en) | 2016-06-29 | 2019-05-14 | GM Global Technology Operations LLC | Systems and methods for sensor platform |
US10482559B2 (en) | 2016-11-11 | 2019-11-19 | Uatc, Llc | Personalizing ride experience based on contextual ride usage data |
US10147193B2 (en) | 2017-03-10 | 2018-12-04 | TuSimple | System and method for semantic segmentation using hybrid dilated convolution (HDC) |
US10552691B2 (en) * | 2017-04-25 | 2020-02-04 | TuSimple | System and method for vehicle position and velocity estimation based on camera and lidar data |
US10386857B2 (en) * | 2017-07-05 | 2019-08-20 | Qualcomm Incorporated | Sensor-centric path planning and control for robotic vehicles |
US10848719B2 (en) | 2017-09-13 | 2020-11-24 | Alarm.Com Incorporated | System and method for gate monitoring during departure or arrival of an autonomous vehicle |
CN115393536A (zh) * | 2018-04-18 | 2022-11-25 | 移动眼视力科技有限公司 | 利用相机进行车辆环境建模 |
US10909866B2 (en) | 2018-07-20 | 2021-02-02 | Cybernet Systems Corp. | Autonomous transportation system and methods |
KR102627453B1 (ko) * | 2018-10-17 | 2024-01-19 | 삼성전자주식회사 | 위치 추정 장치 및 방법 |
CN109902725A (zh) * | 2019-01-31 | 2019-06-18 | 北京达佳互联信息技术有限公司 | 移动目标的检测方法、装置及电子设备和存储介质 |
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KR100837776B1 (ko) * | 2001-12-24 | 2008-06-13 | 주식회사 케이티 | 2차원 영상을 3차원 영상으로 변환하는 영상 변환 장치 및그 방법 |
US7003136B1 (en) * | 2002-04-26 | 2006-02-21 | Hewlett-Packard Development Company, L.P. | Plan-view projections of depth image data for object tracking |
WO2004001332A1 (fr) * | 2002-06-19 | 2003-12-31 | Canesta, Inc. | Systeme et procede permettant de determiner des coordonnees tridimensionnelles d'une surface au moyen d'une matrice codee |
-
2002
- 2002-11-21 KR KR10-2002-0072696A patent/KR100446636B1/ko active IP Right Grant
-
2003
- 2003-05-02 US US10/427,973 patent/US7440585B2/en active Active
- 2003-05-22 FR FR0306170A patent/FR2847699B1/fr not_active Expired - Fee Related
- 2003-06-05 DE DE10326943.6A patent/DE10326943B4/de not_active Expired - Fee Related
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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