JP7329079B2 - 汎用的に使用可能な特徴マップを生成する方法 - Google Patents
汎用的に使用可能な特徴マップを生成する方法 Download PDFInfo
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- JP7329079B2 JP7329079B2 JP2021572328A JP2021572328A JP7329079B2 JP 7329079 B2 JP7329079 B2 JP 7329079B2 JP 2021572328 A JP2021572328 A JP 2021572328A JP 2021572328 A JP2021572328 A JP 2021572328A JP 7329079 B2 JP7329079 B2 JP 7329079B2
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- 238000005259 measurement Methods 0.000 claims description 59
- 238000000034 method Methods 0.000 claims description 30
- 238000004590 computer program Methods 0.000 claims description 5
- 230000001131 transforming effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 14
- 238000004891 communication Methods 0.000 description 6
- 238000003909 pattern recognition Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
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- 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
- G01C21/3807—Creation or updating of map data characterised by the type of data
-
- 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
- G01C21/26—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
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
-
- 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
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- 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
- G01C21/3863—Structures of map data
- G01C21/3867—Geometry of map features, e.g. shape points, polygons or for simplified maps
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- 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
- G01C21/3863—Structures of map data
- G01C21/387—Organisation of map data, e.g. version management or database structures
- G01C21/3878—Hierarchical structures, e.g. layering
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- 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
- G05D1/0246—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
- G05D1/0248—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 in combination with a laser
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Description
Claims (8)
- 制御装置(10)によるデジタルマップを生成する方法(2)であって、
測定走行中に環境(U)の測定データを受信し(18)、
当該受信された測定データに基づくSLAMを実行して前記測定走行の軌道を特定し(19)、
当該受信された測定データを前記軌道の座標系に変換し(20)、
当該変換された測定データを強度マップ(30)の生成(21)に使用し、
当該受信された測定データにおける各セル(31)および隣接するセル(32)の測定データから加重平均値を算出して、当該算出された加重平均値から高度マップ(40)を生成し(22)、
前記強度マップ(30)から特徴(62、64、66)を抽出して(23)、特徴マップ(60)に保存する(24)、方法。 - 前記特徴マップ(60)は、デジタルマップとして、またはデジタルマップのマップレイヤとして保存される、請求項1に記載の方法。
- 当該受信された測定データは点群として存在し、複数のセル(31、32)からなるラスタに割り当てられ、前記強度マップ(30)を生成するために、各セル(31、32)の測定データの平均値が算出される、請求項1または2に記載の方法。
- 当該抽出された特徴(62、64、66)の高度を決定するために、当該生成された高度マップ(40)から情報が受信され、前記特徴マップ(60)に保存される、請求項1から3のいずれか一項に記載の方法。
- 当該抽出された特徴(62、64、66)は、汎用的に特定可能な特徴(62、64、66)として前記特徴マップ(60)に保存され、前記特徴(62、64、66)は、幾何学的形状、線、点および/または点群として抽出されて保存される、請求項1から4のいずれか一項に記載の方法。
- 請求項1から5のいずれか一項に記載の方法(2、4)の少なくとも1つを実施するように構成されている制御装置(10、11)。
- コンピュータまたは制御装置(10、11)によって実行されると、コンピュータまたは制御装置に請求項1から5のいずれか一項に記載の方法(2、4)の少なくとも1つを実行させる複数の命令を含む、コンピュータプログラム。
- 請求項7に記載のコンピュータプログラムが保存された、機械読み取り可能な記憶媒体(12、13)。
Priority Applications (1)
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JP2023109909A JP2023126893A (ja) | 2019-06-07 | 2023-07-04 | 汎用的に使用可能な特徴マップを生成する方法 |
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DE102019208384.6A DE102019208384A1 (de) | 2019-06-07 | 2019-06-07 | Verfahren zum Erstellen einer universell einsetzbaren Merkmalskarte |
DE102019208384.6 | 2019-06-07 | ||
PCT/EP2020/062702 WO2020244881A1 (de) | 2019-06-07 | 2020-05-07 | Verfahren zum erstellen einer universell einsetzbaren merkmalskarte |
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JP2022535568A JP2022535568A (ja) | 2022-08-09 |
JP7329079B2 true JP7329079B2 (ja) | 2023-08-17 |
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JP2021572328A Active JP7329079B2 (ja) | 2019-06-07 | 2020-05-07 | 汎用的に使用可能な特徴マップを生成する方法 |
JP2023109909A Pending JP2023126893A (ja) | 2019-06-07 | 2023-07-04 | 汎用的に使用可能な特徴マップを生成する方法 |
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US (1) | US20220236073A1 (ja) |
EP (1) | EP3980724A1 (ja) |
JP (2) | JP7329079B2 (ja) |
CN (1) | CN113994172A (ja) |
DE (1) | DE102019208384A1 (ja) |
WO (1) | WO2020244881A1 (ja) |
Citations (3)
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US20100217529A1 (en) | 2009-02-20 | 2010-08-26 | Matei Nicolai Stroila | Determining Travel Path Features Based on Retroreflectivity |
JP2012168098A (ja) | 2011-02-16 | 2012-09-06 | Aisin Aw Co Ltd | 撮影位置特定システム、撮影位置特定プログラム、及び撮影位置特定方法 |
US20140297092A1 (en) | 2013-03-26 | 2014-10-02 | Toyota Motor Engineering & Manufacturing North America, Inc. | Intensity map-based localization with adaptive thresholding |
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JP3292679B2 (ja) * | 1997-06-03 | 2002-06-17 | 三菱電機株式会社 | レーダ装置 |
JP2005009926A (ja) * | 2003-06-17 | 2005-01-13 | Nec Corp | 目標中心位置算出方法、装置及びプログラム |
US8473187B2 (en) * | 2009-06-01 | 2013-06-25 | Robert Bosch Gmbh | Method and apparatus for combining three-dimensional position and two-dimensional intensity mapping for localization |
US20140267282A1 (en) * | 2013-03-14 | 2014-09-18 | Robert Bosch Gmbh | System And Method For Context Dependent Level Of Detail Adjustment For Navigation Maps And Systems |
DE102013208521B4 (de) * | 2013-05-08 | 2022-10-13 | Bayerische Motoren Werke Aktiengesellschaft | Kollektives Erlernen eines hochgenauen Straßenmodells |
GB201409625D0 (en) * | 2014-05-30 | 2014-07-16 | Isis Innovation | Vehicle localisation |
DE102014223363B4 (de) * | 2014-11-17 | 2021-04-29 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zur Lokalisation eines Kraftfahrzeugs in einer ortsfesten Referenzkarte |
KR102650541B1 (ko) * | 2015-08-03 | 2024-03-26 | 톰톰 글로벌 콘텐트 비.브이. | 위치파악 참조 데이터를 생성하고 사용하는 방법 및 시스템 |
WO2018060313A1 (en) * | 2016-09-28 | 2018-04-05 | Tomtom Global Content B.V. | Methods and systems for generating and using localisation reference data |
DE102016220521A1 (de) * | 2016-10-19 | 2018-04-19 | Volkswagen Aktiengesellschaft | Verfahren zum Ermitteln einer Position eines Kraftfahrzeugs sowie Fahrerassistenzsystem für ein Kraftfahrzeug |
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DE102017221691A1 (de) * | 2017-12-01 | 2019-06-06 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zur Eigenlokalisierung eines Fahrzeugs |
DE102017222810A1 (de) * | 2017-12-14 | 2019-06-19 | Robert Bosch Gmbh | Verfahren zum Erstellen einer merkmalbasierten Lokalisierungskarte für ein Fahrzeug unter Berücksichtigung charakteristischer Strukturen von Objekten |
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JP7167876B2 (ja) * | 2018-08-31 | 2022-11-09 | 株式会社デンソー | 地図生成システム、サーバ、方法 |
-
2019
- 2019-06-07 DE DE102019208384.6A patent/DE102019208384A1/de active Pending
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2020
- 2020-05-07 EP EP20724501.0A patent/EP3980724A1/de not_active Ceased
- 2020-05-07 CN CN202080042066.0A patent/CN113994172A/zh active Pending
- 2020-05-07 WO PCT/EP2020/062702 patent/WO2020244881A1/de active Application Filing
- 2020-05-07 US US17/596,131 patent/US20220236073A1/en active Pending
- 2020-05-07 JP JP2021572328A patent/JP7329079B2/ja active Active
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2023
- 2023-07-04 JP JP2023109909A patent/JP2023126893A/ja active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100217529A1 (en) | 2009-02-20 | 2010-08-26 | Matei Nicolai Stroila | Determining Travel Path Features Based on Retroreflectivity |
JP2012168098A (ja) | 2011-02-16 | 2012-09-06 | Aisin Aw Co Ltd | 撮影位置特定システム、撮影位置特定プログラム、及び撮影位置特定方法 |
US20140297092A1 (en) | 2013-03-26 | 2014-10-02 | Toyota Motor Engineering & Manufacturing North America, Inc. | Intensity map-based localization with adaptive thresholding |
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JP2022535568A (ja) | 2022-08-09 |
US20220236073A1 (en) | 2022-07-28 |
JP2023126893A (ja) | 2023-09-12 |
DE102019208384A1 (de) | 2020-12-10 |
EP3980724A1 (de) | 2022-04-13 |
WO2020244881A1 (de) | 2020-12-10 |
CN113994172A (zh) | 2022-01-28 |
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