MX2020008586A - Sistemas y metodos para navegacion interior de vehiculos en base a objetivos opticos. - Google Patents

Sistemas y metodos para navegacion interior de vehiculos en base a objetivos opticos.

Info

Publication number
MX2020008586A
MX2020008586A MX2020008586A MX2020008586A MX2020008586A MX 2020008586 A MX2020008586 A MX 2020008586A MX 2020008586 A MX2020008586 A MX 2020008586A MX 2020008586 A MX2020008586 A MX 2020008586A MX 2020008586 A MX2020008586 A MX 2020008586A
Authority
MX
Mexico
Prior art keywords
target
optical target
camera
optical
systems
Prior art date
Application number
MX2020008586A
Other languages
English (en)
Inventor
Ralf Haeusler
Stuart Park
Mark Bell
Original Assignee
Crown Equip 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 Crown Equip Corp filed Critical Crown Equip Corp
Publication of MX2020008586A publication Critical patent/MX2020008586A/es

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0251—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 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/02—Means for marking measuring points
    • G01C15/04—Permanent marks; Boundary markers
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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; CALCULATING OR 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
    • G06T2207/30204—Marker
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Navigation (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

Vehículos, sistemas y métodos para navegar o rastrear la navegación de un vehículo de manejo de materiales a lo largo de una superficie que puede incluir una cámara y funciones del vehículo para coincidir la información de imagen bidimensional de los datos de la cámara asociados con la imagen de entrada de las características desde arriba con una pluralidad de ubicaciones objetivo globales de un mapa de almacén para generar una pluralidad de objetivos ópticos candidatos, un objetivo óptico asociado con cada ubicación objetivo global y un código; filtrar los objetivos para determinar un objetivo óptico candidato; descodificar el objetivo para identificar el código asociado; identificar un objetivo óptico asociado con el código identificado; determinar una métrica de la cámara con relación al objetivo óptico identificado y la posición y orientación del objetivo óptico identificado en el mapa de almacén; calcular una postura del vehículo en base a la métrica de la cámara y navegar el vehículo de manejo de materiales utilizando la postura del vehículo.
MX2020008586A 2018-02-23 2019-02-20 Sistemas y metodos para navegacion interior de vehiculos en base a objetivos opticos. MX2020008586A (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201862634219P 2018-02-23 2018-02-23
PCT/US2019/018768 WO2019164943A1 (en) 2018-02-23 2019-02-20 Systems and methods for optical target based indoor vehicle navigation

Publications (1)

Publication Number Publication Date
MX2020008586A true MX2020008586A (es) 2020-09-21

Family

ID=65812381

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2020008586A MX2020008586A (es) 2018-02-23 2019-02-20 Sistemas y metodos para navegacion interior de vehiculos en base a objetivos opticos.

Country Status (8)

Country Link
US (3) US11181925B2 (es)
EP (1) EP3755969A1 (es)
KR (1) KR20200124263A (es)
CN (2) CN111989544B (es)
AU (2) AU2019225801B2 (es)
CA (1) CA3092038A1 (es)
MX (1) MX2020008586A (es)
WO (1) WO2019164943A1 (es)

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CN114282559A (zh) * 2021-12-17 2022-04-05 长春长光辰芯光电技术有限公司 一种光学代码定位方法、装置、图像传感器芯片
CN114485682B (zh) * 2021-12-30 2023-06-27 武汉光庭信息技术股份有限公司 一种基于slam技术的定位方法

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Also Published As

Publication number Publication date
US20220043457A1 (en) 2022-02-10
WO2019164943A1 (en) 2019-08-29
AU2024201606A1 (en) 2024-03-28
CA3092038A1 (en) 2019-08-29
US11181925B2 (en) 2021-11-23
CN111989544A (zh) 2020-11-24
US20240028045A1 (en) 2024-01-25
CN116907458A (zh) 2023-10-20
AU2019225801B2 (en) 2023-12-14
US11815905B2 (en) 2023-11-14
CN111989544B (zh) 2023-08-01
AU2019225801A1 (en) 2020-09-03
EP3755969A1 (en) 2020-12-30
US20190265722A1 (en) 2019-08-29
KR20200124263A (ko) 2020-11-02

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