JP6766843B2 - 自己位置推定装置 - Google Patents

自己位置推定装置 Download PDF

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Publication number
JP6766843B2
JP6766843B2 JP2018095471A JP2018095471A JP6766843B2 JP 6766843 B2 JP6766843 B2 JP 6766843B2 JP 2018095471 A JP2018095471 A JP 2018095471A JP 2018095471 A JP2018095471 A JP 2018095471A JP 6766843 B2 JP6766843 B2 JP 6766843B2
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JP
Japan
Prior art keywords
landmark
vehicle
camera
self
cloud map
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
JP2018095471A
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English (en)
Japanese (ja)
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JP2019200160A5 (https=
JP2019200160A (ja
Inventor
俊也 熊野
俊也 熊野
健 式町
健 式町
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.)
Denso Corp
Original Assignee
Denso Corp
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 Denso Corp filed Critical Denso Corp
Priority to JP2018095471A priority Critical patent/JP6766843B2/ja
Priority to PCT/JP2019/011088 priority patent/WO2019220765A1/ja
Publication of JP2019200160A publication Critical patent/JP2019200160A/ja
Publication of JP2019200160A5 publication Critical patent/JP2019200160A5/ja
Application granted granted Critical
Publication of JP6766843B2 publication Critical patent/JP6766843B2/ja
Priority to US17/095,077 priority patent/US20210063192A1/en
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
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3644—Landmark guidance, e.g. using POIs or conspicuous other objects
    • 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
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • 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
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3837—Data obtained from a single source
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3848—Data obtained from both position sensors and additional sensors
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • 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
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Educational Technology (AREA)
  • Educational Administration (AREA)
  • Business, Economics & Management (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Instructional Devices (AREA)
JP2018095471A 2018-05-17 2018-05-17 自己位置推定装置 Expired - Fee Related JP6766843B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2018095471A JP6766843B2 (ja) 2018-05-17 2018-05-17 自己位置推定装置
PCT/JP2019/011088 WO2019220765A1 (ja) 2018-05-17 2019-03-18 自己位置推定装置
US17/095,077 US20210063192A1 (en) 2018-05-17 2020-11-11 Own location estimation device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018095471A JP6766843B2 (ja) 2018-05-17 2018-05-17 自己位置推定装置

Publications (3)

Publication Number Publication Date
JP2019200160A JP2019200160A (ja) 2019-11-21
JP2019200160A5 JP2019200160A5 (https=) 2020-06-11
JP6766843B2 true JP6766843B2 (ja) 2020-10-14

Family

ID=68540298

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018095471A Expired - Fee Related JP6766843B2 (ja) 2018-05-17 2018-05-17 自己位置推定装置

Country Status (3)

Country Link
US (1) US20210063192A1 (https=)
JP (1) JP6766843B2 (https=)
WO (1) WO2019220765A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7351215B2 (ja) * 2019-12-24 2023-09-27 株式会社デンソー 交差点中心検出装置、交差点レーン判定装置、交差点中心検出方法、交差点レーン判定方法およびプログラム
US20230136492A1 (en) * 2021-09-10 2023-05-04 Samsung Electronics Co., Ltd. Method and apparatus for estimating position of moving object
CN114303586A (zh) * 2021-12-29 2022-04-12 中国电建集团贵州电力设计研究院有限公司 一种用于边坡的光伏板下自动除草装置及其使用方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4984659B2 (ja) * 2006-06-05 2012-07-25 株式会社豊田中央研究所 自車両位置推定装置
JP4718396B2 (ja) * 2006-08-24 2011-07-06 日立オートモティブシステムズ株式会社 ランドマーク認識システム
JP5062498B2 (ja) * 2010-03-31 2012-10-31 アイシン・エィ・ダブリュ株式会社 風景マッチング用参照データ生成システム及び位置測位システム
JP2014228526A (ja) * 2013-05-27 2014-12-08 パイオニア株式会社 情報告知装置、情報告知システム、情報告知方法、及び、情報告知装置用プログラム
JP6325806B2 (ja) * 2013-12-06 2018-05-16 日立オートモティブシステムズ株式会社 車両位置推定システム
JP6386300B2 (ja) * 2014-08-28 2018-09-05 株式会社ゼンリン 車両位置特定装置および運転支援装置
CN112923936B (zh) * 2015-02-10 2023-04-18 御眼视觉技术有限公司 用于车辆的导航系统、方法及计算机可读介质
US10949712B2 (en) * 2016-03-30 2021-03-16 Sony Corporation Information processing method and information processing device
JP6776707B2 (ja) * 2016-08-02 2020-10-28 トヨタ自動車株式会社 自車位置推定装置
EP4253153B1 (en) * 2016-11-01 2024-12-04 Panasonic Intellectual Property Corporation of America Display method and display device

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Publication number Publication date
US20210063192A1 (en) 2021-03-04
JP2019200160A (ja) 2019-11-21
WO2019220765A1 (ja) 2019-11-21

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