JP7111794B2 - 装置の位置特定のための幾何学的指紋法 - Google Patents
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Description
データの収集
特徴抽出
指紋データベースにおける特徴ジオメトリーのコード化
指紋データベースを用いてエンドユーザ装置の場所を特定する
要素1:特徴ジオメトリーのGDOP
要素2:特徴ジオメトリーのランク付け
ランキング値=W1×形状+W2×サイズ+W3×高さ+W4×変化
このとき、W1+W2+W3+W4=1である。
GDOP及び特徴ランキングの組み合わせ
経路ネットワークにおける位置決めの決定
フローチャートの実施形態
ナビゲーション及びネットワークシステム
Claims (13)
- 経路ネットワークにおける場所であって前記経路ネットワーク内の場所は道路ネットワーク及び/又は通路ネットワーク内の場所について、前記場所の周りのデプス感知装置によって収集された三次元画像データと、前記三次元画像データに関連付けられた場所データを含む三次元デプスマップを受信することと、
前記三次元デプスマップを道路レベル及び/又は通路レベルから1つ以上の高さにおいて1つ以上の水平面に分割することと、
前記1つ以上の水平面から、曲線、弧、又は、スプラインを含む二次元の特徴ジオメトリーを抽出することと、
前記抽出された二次元の特徴ジオメトリーの少なくとも一部分をデータベースにコード化することと、を含む、データベースをコード化するための方法。 - プロセッサを含みデプス感知カメラを備えたエンドユーザ装置を使用するための方法であって、
前記デプス感知カメラを用いて、経路ネットワークにおける場所であって前記経路ネットワーク内の場所は道路ネットワーク及び/又は通路ネットワーク内の場所において、前記場所の周りのデプス感知装置によって収集された三次元画像データと、前記三次元画像データに関連付けられた場所データとを含む三次元デプスマップを収集することと、
前記三次元デプスマップを前記三次元デプスマップ内の道路レベル及び/又は通路レベルから1つ以上の高さにおいて1つ以上の水平面に分割することと、
前記水平面から二次元の特徴ジオメトリーを抽出することと、
前記抽出された特徴ジオメトリーの少なくとも一部分と前記経路ネットワークに対する特徴ジオメトリーのデータベースを比較することで、前記エンドユーザ装置の地理的な場所を特定することであって、前記二次元の特徴ジオメトリーは曲線、弧、又は、スプラインを含み、特定することと、
を含む、方法。 - 前記抽出された特徴ジオメトリーと特徴ジオメトリーの前記データベースを比較することで、前記エンドユーザ装置の地理的な方向付けを確認することをさらに含む、請求項2に記載の方法。
- 前記エンドユーザ装置は車両であり、前記デプス感知カメラは、LIDARカメラ、RADAR装置、超音波装置、構造化光カメラ、及び、移動型モノカメラよりなる群から選択される、請求項2に記載の方法。
- 前記エンドユーザ装置の前記地理的な場所は、(1)前記データベースにおける前記特徴ジオメトリーの選択された制御点の地理的属性、及び、(2)前記特徴ジオメトリーの各選択された制御点からの前記エンドユーザ装置の特定された距離を用いて特定され、
前記地理的属性は、各選択された制御点に対して、緯度、経度、及び、前記道路レベル及び/又は前記通路レベルから上方の高さを含む、請求項2に記載の方法。 - 前記水平面は、0.1~2メートルの厚さを有する、請求項1~5のいずれか1項に記載の方法。
- 各水平面は、定義され選択された高さのデータと、前記選択された高さの上下の範囲内に存在するデータとを含む、請求項1~6のいずれか1項に記載の方法。
- 二次元の特徴ジオメトリーを識別するため第1の高さで第1の水平面を解析することと、
前記第1の水平面内で有用な二次元の特徴ジオメトリーが識別されない場合には、第2の高さでの第2水平面から二次元の特徴ジオメトリーを抽出することと、
を含む、請求項1~7のいずれか1項に記載の方法。 - 特徴ジオメトリーの抽出は、曲線回帰アルゴリズムを使用する、請求項1に記載の方法。
- 前記抽出された特徴ジオメトリーの少なくとも一部と前記経路ネットワークの特徴ジオメトリーのデータベースとの比較を通じて前記エンドユーザ装置の地理的な場所を決定すること、をさらに含む、請求項2に記載の方法。
- 前記デプスマップ内の物理的構造物をプロセッサを用いて識別することを含む、請求項1~10のいずれか1項に記載の方法。
- 少なくとも1つのプロセッサと、
1つ以上のプログラムに対するコンピュータプログラムコードを含む少なくとも1つのメモリと、を備える装置であって、
前記少なくとも1つのメモリ及び前記コンピュータプログラムコードは、前記少なくとも1つのプロセッサと共に、前記装置に少なくとも、請求項1~11のいずれか1項に記載の方法を実行させる、ように構成される、装置。 - 1つ以上のプログラムのためのコンピュータプログラムコードを含むコンピュータ可読記憶媒体であって、前記コンピュータプログラムコードは、少なくとも1つのプロセッサに請求項1~11のいずれか一項に記載の方法を少なくとも実行させるように構成される、コンピュータ可読記憶媒体。
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EP3237925A1 (en) | 2017-11-01 |
BR112017013687A2 (pt) | 2018-03-06 |
AU2015370579A1 (en) | 2017-07-13 |
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