JP6187672B2 - 自己位置算出装置及び自己位置算出方法 - Google Patents

自己位置算出装置及び自己位置算出方法 Download PDF

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Publication number
JP6187672B2
JP6187672B2 JP2016503900A JP2016503900A JP6187672B2 JP 6187672 B2 JP6187672 B2 JP 6187672B2 JP 2016503900 A JP2016503900 A JP 2016503900A JP 2016503900 A JP2016503900 A JP 2016503900A JP 6187672 B2 JP6187672 B2 JP 6187672B2
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JP
Japan
Prior art keywords
pattern light
vehicle
road surface
feature point
feature points
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
JP2016503900A
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English (en)
Japanese (ja)
Other versions
JPWO2015125301A1 (ja
Inventor
山口　一郎
一郎 山口
西内　秀和
秀和 西内
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.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor 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 Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Publication of JPWO2015125301A1 publication Critical patent/JPWO2015125301A1/ja
Application granted granted Critical
Publication of JP6187672B2 publication Critical patent/JP6187672B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/24—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
    • B60Q1/249—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead for illuminating the field of view of a sensor or camera
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • 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
    • 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
    • G06T2207/10141—Special mode during image acquisition
    • G06T2207/10152—Varying illumination
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
JP2016503900A 2014-02-24 2014-02-24 自己位置算出装置及び自己位置算出方法 Expired - Fee Related JP6187672B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/054317 WO2015125301A1 (ja) 2014-02-24 2014-02-24 自己位置算出装置及び自己位置算出方法

Publications (2)

Publication Number Publication Date
JPWO2015125301A1 JPWO2015125301A1 (ja) 2017-03-30
JP6187672B2 true JP6187672B2 (ja) 2017-08-30

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016503900A Expired - Fee Related JP6187672B2 (ja) 2014-02-24 2014-02-24 自己位置算出装置及び自己位置算出方法

Country Status (8)

Country Link
US (1) US9778029B2 (cg-RX-API-DMAC7.html)
EP (1) EP3113150B1 (cg-RX-API-DMAC7.html)
JP (1) JP6187672B2 (cg-RX-API-DMAC7.html)
CN (1) CN106030680B (cg-RX-API-DMAC7.html)
BR (1) BR112016019593B1 (cg-RX-API-DMAC7.html)
MX (1) MX349166B (cg-RX-API-DMAC7.html)
RU (1) RU2621826C1 (cg-RX-API-DMAC7.html)
WO (1) WO2015125301A1 (cg-RX-API-DMAC7.html)

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JP6299319B2 (ja) * 2014-03-25 2018-03-28 日産自動車株式会社 自己位置算出装置及び自己位置算出方法
CN110682855B (zh) 2015-04-10 2023-04-18 麦克赛尔株式会社 车辆
GB2548827B (en) * 2016-03-25 2020-09-23 Jaguar Land Rover Ltd Apparatus, system, method and computer program for providing lighting of a vehicle
JP6601352B2 (ja) * 2016-09-15 2019-11-06 株式会社デンソー 車両姿勢推定装置
GB201700071D0 (en) * 2017-01-04 2017-02-15 Yarwood Michael S Vehicle safety systems
CN110959143B (zh) * 2017-08-04 2023-09-22 索尼公司 信息处理装置、信息处理方法、程序和移动体
DE112018003986T5 (de) * 2017-08-04 2020-04-16 Sony Corporation Steuervorrichtung, steuerverfahren, programm und mobileinheit
US11221631B2 (en) 2019-04-24 2022-01-11 Innovation First, Inc. Performance arena for robots with position location system
CN115004274A (zh) * 2020-01-14 2022-09-02 京瓷株式会社 图像处理装置、拍摄装置、信息处理装置、检测装置、路侧机、图像处理方法及校正方法
DE102020101710B4 (de) 2020-01-24 2021-09-02 Audi Aktiengesellschaft Verfahren zur Beleuchtung eines Fahrzeugumfeldes und Kraftfahrzeug
DE102020007645A1 (de) * 2020-04-03 2021-10-07 Daimler Ag Verfahren zur Kalibrierung eines Lidarsensors
CN112288799B (zh) * 2020-09-22 2024-08-13 上海擎朗智能科技有限公司 一种行驶设备的定位方法、装置、设备及存储介质

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US3414213A (en) * 1966-05-13 1968-12-03 Bendix Corp Internal reflection temperature controlled sun sensor
JPH06325298A (ja) * 1993-05-13 1994-11-25 Yazaki Corp 車両周辺監視装置
RU2247921C2 (ru) * 2002-06-26 2005-03-10 Анцыгин Александр Витальевич Способ ориентирования на местности и устройство для его осуществления
JP2004198211A (ja) 2002-12-18 2004-07-15 Aisin Seiki Co Ltd 移動体周辺監視装置
JP2004198212A (ja) 2002-12-18 2004-07-15 Aisin Seiki Co Ltd 移動体周辺監視装置
JP5151050B2 (ja) * 2006-03-23 2013-02-27 日産自動車株式会社 車両用環境認識装置及び車両用環境認識方法
JP4780614B2 (ja) 2006-04-10 2011-09-28 アルパイン株式会社 車体挙動測定装置
JP4914726B2 (ja) 2007-01-19 2012-04-11 クラリオン株式会社 現在位置算出装置、現在位置算出方法
JP5251419B2 (ja) 2008-10-22 2013-07-31 日産自動車株式会社 距離計測装置および距離計測方法
US8692980B2 (en) * 2010-11-01 2014-04-08 Advanced Scientific Concepts, Inc. Flash LADAR collision avoidance system
RU2611289C2 (ru) * 2010-12-22 2017-02-21 Филипс Лайтинг Холдинг Б.В. Система позиционирования и направления транспортных средств
WO2012172870A1 (ja) * 2011-06-14 2012-12-20 日産自動車株式会社 距離計測装置及び環境地図生成装置
JP2013147114A (ja) * 2012-01-18 2013-08-01 Toyota Motor Corp 周辺環境取得装置およびサスペンション制御装置
JP5992184B2 (ja) * 2012-03-09 2016-09-14 株式会社トプコン 画像データ処理装置、画像データ処理方法および画像データ処理用のプログラム
JP5857224B2 (ja) * 2012-03-30 2016-02-10 パナソニックＩｐマネジメント株式会社 駐車支援装置、及び駐車支援方法

Also Published As

Publication number Publication date
BR112016019593A2 (cg-RX-API-DMAC7.html) 2017-08-15
JPWO2015125301A1 (ja) 2017-03-30
EP3113150B1 (en) 2018-06-27
MX2016010741A (es) 2016-10-26
RU2621826C1 (ru) 2017-06-07
MX349166B (es) 2017-07-17
WO2015125301A1 (ja) 2015-08-27
EP3113150A1 (en) 2017-01-04
CN106030680A (zh) 2016-10-12
EP3113150A4 (en) 2017-04-19
US9778029B2 (en) 2017-10-03
BR112016019593B1 (pt) 2022-06-07
US20170018087A1 (en) 2017-01-19
CN106030680B (zh) 2017-09-19

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