JP6533619B2 - センサキャリブレーションシステム - Google Patents
センサキャリブレーションシステム Download PDFInfo
- Publication number
- JP6533619B2 JP6533619B2 JP2018502510A JP2018502510A JP6533619B2 JP 6533619 B2 JP6533619 B2 JP 6533619B2 JP 2018502510 A JP2018502510 A JP 2018502510A JP 2018502510 A JP2018502510 A JP 2018502510A JP 6533619 B2 JP6533619 B2 JP 6533619B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- landmark
- relative position
- unit
- measurement
- 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.)
- Active
Links
Images
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
- G01S7/40—Means for monitoring or calibrating
-
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- 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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G01S13/874—Combination of several systems for attitude determination
-
- 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
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
-
- 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
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/862—Combination of radar systems with sonar systems
-
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
-
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- 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
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather 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
- G01S2013/9323—Alternative operation using light waves
-
- 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
- G01S2013/9324—Alternative operation using ultrasonic waves
-
- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the 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
- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side of the 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
- 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
- G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
Description
前記第1計測手段が計測した情報から、計測領域内にある前記第1ランドマークの位置を検出する第1ランドマーク検出部と、前記第1ランドマーク検出部が検出した前記計測領域内にある第1ランドマークの位置と前記車両ランドマーク相対位置推定部が推定した前記第1ランドマーク位置とを比較し、前記第1ランドマーク検出部が検出した前記計測領域内にある第1ランドマークの相対位置に対して、前記車両ランドマーク相対位置推定部が推定した前記第1ランドマークの相対位置が事前に設定した閾値以内にあった場合、それぞれの検出結果が同じランドマークを検出していると判断し、ランドマークを対応付けするランドマーク対応付け部と、前記車両ランドマーク相対位置推定部と前記ランドマーク対応付け部との情報に基づき前記車両と前記第1計測手段との相対位置姿勢を推定する車両センサ相対姿勢推定部と、を有するキャリブレーションシステム。
以上により、第1計測手段31と車両3の相対位置を求めることができる。つまり、本実施例に係るセンサキャリブレーションシステムにおいては、例えばUAVなどを用いた3次元形状情報取得手段により、キャリブレーション用のランドマークの位置及び形状を正確に測定し、かつ車両位置を推定することで、どの環境下においても高精度な車両センサ位置及び車両の位置を高精度に推定、補正することができる。これにより、センサを用いた障害物検出システムを健全に動作させることが可能となる。
このとき第1計測手段31と第2計測手段32は異なる種類の外界センサでも問題ない。本実施例では、第1ランドマーク4を第1計測手段の計測範囲311に設置し、第2ランドマーク5を第2計測手段の計測範囲321に設置する。図6は、この状況を俯瞰で示している。このとき、第1ランドマーク4は第1計測手段31が容易に計測できるものとするのが望ましく、また、第2ランドマーク5は第2計測手段32が容易に計測できるものとするのが望ましい。また、これらのランドマークは周囲の地形形状や木々、設置物などがあれば、それらも代用することができる。
Claims (2)
- 車両と前記車両に取付けられた第1計測手段の取付け位置との相対位置姿勢を求めるキャリブレーションシステムにおいて、
前記車両、前記第1計測手段、第1ランドマーク、および前記第1ランドマーク周辺の環境の3次元形状情報を取得する3次元形状情報取得手段と、
前記3次元形状情報から、前記車両の位置を推定する車両位置検出部と、
前記3次元形状情報から、前記第1計測手段の前記車両への取付け位置を求める車両センサ位置検出部と、
前記3次元形状情報から、前記第1ランドマークの位置を検出する車両センサ用ランドマーク位置検出部と、
前記車両の位置と前記第1計測手段の位置と前記第1ランドマークの位置とに基づいて、前記車両の位置と前記第1計測手段の前記車両への取付け位置との相対位置を求める車両ランドマーク相対位置推定部と、
前記第1計測手段が計測した情報から、計測領域内にある前記第1ランドマークの位置を検出する第1ランドマーク検出部と、
前記第1ランドマーク検出部が検出した前記計測領域内にある第1ランドマークの位置と前記車両ランドマーク相対位置推定部が推定した前記第1ランドマーク位置とを比較し、前記第1ランドマーク検出部が検出した前記計測領域内にある第1ランドマークの相対位置に対して、前記車両ランドマーク相対位置推定部が推定した前記第1ランドマークの相対位置が事前に設定した閾値以内にあった場合、それぞれの検出結果が同じランドマークを検出していると判断し、ランドマークを対応付けするランドマーク対応付け部と、
前記車両ランドマーク相対位置推定部と前記ランドマーク対応付け部との情報に基づき前記車両と前記第1計測手段との相対位置姿勢を推定する車両センサ相対姿勢推定部と、を有するキャリブレーションシステム。 - 請求項1記載のキャリブレーションシステムにおいて、
前記車両に第2計測手段が取り付けられており、
前記キャリブレーションシステムにおいて求めた前記車両と前記第1計測手段または前記第2計測手段との相対位置姿勢に基づき、前記第1計測手段および前記第2計測手段の相対位置姿勢を求める車両センサ相対位置姿勢推定部を有するキャリブレーションシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016036563 | 2016-02-29 | ||
JP2016036563 | 2016-02-29 | ||
PCT/JP2016/076224 WO2017149813A1 (ja) | 2016-02-29 | 2016-09-07 | センサキャリブレーションシステム |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2017149813A1 JPWO2017149813A1 (ja) | 2018-09-13 |
JP6533619B2 true JP6533619B2 (ja) | 2019-06-19 |
Family
ID=59742705
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018502510A Active JP6533619B2 (ja) | 2016-02-29 | 2016-09-07 | センサキャリブレーションシステム |
Country Status (3)
Country | Link |
---|---|
US (1) | US10705184B2 (ja) |
JP (1) | JP6533619B2 (ja) |
WO (1) | WO2017149813A1 (ja) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9772395B2 (en) | 2015-09-25 | 2017-09-26 | Intel Corporation | Vision and radio fusion based precise indoor localization |
JP6500852B2 (ja) * | 2016-07-11 | 2019-04-17 | 株式会社安川電機 | ロボットシステム、ロボットの制御方法、ロボットコントローラ |
US10901420B2 (en) | 2016-11-04 | 2021-01-26 | Intel Corporation | Unmanned aerial vehicle-based systems and methods for agricultural landscape modeling |
EP3454075B1 (en) * | 2017-09-11 | 2021-10-06 | Nxp B.V. | Object-detection system calibration |
US10830871B2 (en) * | 2018-03-21 | 2020-11-10 | Zoox, Inc. | Sensor calibration |
JP6916138B2 (ja) * | 2018-03-28 | 2021-08-11 | ヤンマーパワーテクノロジー株式会社 | 作業車両の自動走行装置 |
DE102018212249A1 (de) * | 2018-07-24 | 2020-01-30 | Audi Ag | Verfahren, System und elektronische Recheneinrichtung zum Überprüfen von Sensoreinrichtungen von Fahrzeugen, insbesondere von Kraftfahrzeugen |
CN116887048A (zh) | 2018-12-13 | 2023-10-13 | 索尼集团公司 | 控制器和控制方法 |
CN109901123B (zh) * | 2018-12-24 | 2023-12-01 | 文远知行有限公司 | 传感器标定方法、装置、计算机设备和存储介质 |
CN109737983B (zh) | 2019-01-25 | 2022-02-22 | 北京百度网讯科技有限公司 | 用于生成行驶路径的方法和装置 |
US11333739B2 (en) * | 2019-02-26 | 2022-05-17 | Magna Electronics Inc. | Vehicular radar system with automatic sensor alignment |
US11112490B2 (en) * | 2019-04-15 | 2021-09-07 | Argo AI, LLC | Apparatus for joint calibration of radar and camera systems for autonomous vehicle applications |
SE543438C2 (en) * | 2019-06-20 | 2021-02-16 | Scania Cv Ab | Method, control arrangement and drone for calibration of vehicle sensors |
JP7232336B2 (ja) * | 2019-08-02 | 2023-03-02 | 日立Astemo株式会社 | エイミング装置、運転制御システム、及びセンサデータの補正パラメータの計算方法 |
DE102020213980A1 (de) * | 2020-11-06 | 2022-05-12 | Robert Bosch Gesellschaft mit beschränkter Haftung | Kalibrierverfahren und Kalibriersystem für einen Fahrzeugsensor |
DE102021208738A1 (de) | 2021-08-11 | 2023-02-16 | Zf Friedrichshafen Ag | Computerimplementiertes Verfahren und Computerprogramm zur Generierung von virtuellen Fahrstrecken und Entwicklung und/oder Validierung von Funktionalitäten eines automatisierten Fahrsystems auf den generierten Fahrstrecken |
JP7100413B1 (ja) * | 2021-09-15 | 2022-07-13 | 日立建機株式会社 | 自律走行鉱山車両 |
JP2023183977A (ja) * | 2022-06-17 | 2023-12-28 | ソニーグループ株式会社 | 情報処理装置、情報処理方法、及び、測定システム |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5688876B2 (ja) * | 2008-12-25 | 2015-03-25 | 株式会社トプコン | レーザスキャナ測定システムの較正方法 |
JP2010249613A (ja) | 2009-04-14 | 2010-11-04 | Toyota Motor Corp | 障害物認識装置及び車両制御装置 |
US8577083B2 (en) * | 2009-11-25 | 2013-11-05 | Honeywell International Inc. | Geolocating objects of interest in an area of interest with an imaging system |
JP5873676B2 (ja) * | 2011-09-30 | 2016-03-01 | 古野電気株式会社 | レーダ基準方位補正装置、レーダ装置、レーダ基準方位補正プログラム、及びレーダ基準方位補正方法 |
JP6168784B2 (ja) * | 2013-02-08 | 2017-07-26 | 古河電気工業株式会社 | 周辺監視システム及び周辺監視システムの軸ずれ検知方法 |
JP5819555B1 (ja) * | 2015-04-01 | 2015-11-24 | ライトブレインラボ合同会社 | 車両運転支援システム |
-
2016
- 2016-09-07 WO PCT/JP2016/076224 patent/WO2017149813A1/ja active Application Filing
- 2016-09-07 US US15/779,676 patent/US10705184B2/en active Active
- 2016-09-07 JP JP2018502510A patent/JP6533619B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
US10705184B2 (en) | 2020-07-07 |
JPWO2017149813A1 (ja) | 2018-09-13 |
US20180372841A1 (en) | 2018-12-27 |
WO2017149813A1 (ja) | 2017-09-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6533619B2 (ja) | センサキャリブレーションシステム | |
US11670193B2 (en) | Extrinsic parameter of on-board sensor | |
JP7301909B2 (ja) | 地図データ、レーザ、およびカメラからのヨー誤差の確定 | |
JP6827627B2 (ja) | ビークル環境マップを生成および更新するための方法およびシステム | |
Rose et al. | An integrated vehicle navigation system utilizing lane-detection and lateral position estimation systems in difficult environments for GPS | |
AU2015234395B2 (en) | Real-time range map generation | |
US9251587B2 (en) | Motion estimation utilizing range detection-enhanced visual odometry | |
JP6881464B2 (ja) | 自己位置推定方法及び自己位置推定装置 | |
JP5157067B2 (ja) | 自動走行用マップ作成装置、及び自動走行装置。 | |
Kim et al. | Stereo camera localization in 3d lidar maps | |
WO2015098344A1 (ja) | 鉱山用作業機械 | |
US11908164B2 (en) | Automatic extrinsic calibration using sensed data as a target | |
WO2017038291A1 (ja) | 環境地図自動作成装置 | |
JP6834401B2 (ja) | 自己位置推定方法及び自己位置推定装置 | |
Aijazi et al. | Multi sensorial data fusion for efficient detection and tracking of road obstacles for inter-distance and anti-colision safety management | |
US10249056B2 (en) | Vehicle position estimation system | |
JP7302966B2 (ja) | 移動体 | |
EP3742329A1 (en) | Lane tracking in three dimensions using digital terrain model | |
JP2024038322A (ja) | 測定装置、測定方法およびプログラム | |
JP2023176361A (ja) | 移動体制御システムおよび移動体制御方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20180524 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190305 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190409 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20190508 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20190524 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6533619 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |