MX349023B - Aparato de calculo de la posicion propia y metodo de calculo de la posicion propia. - Google Patents

Aparato de calculo de la posicion propia y metodo de calculo de la posicion propia.

Info

Publication number
MX349023B
MX349023B MX2016010589A MX2016010589A MX349023B MX 349023 B MX349023 B MX 349023B MX 2016010589 A MX2016010589 A MX 2016010589A MX 2016010589 A MX2016010589 A MX 2016010589A MX 349023 B MX349023 B MX 349023B
Authority
MX
Mexico
Prior art keywords
vehicle
location
local location
location computation
computation device
Prior art date
Application number
MX2016010589A
Other languages
English (en)
Other versions
MX2016010589A (es
Inventor
Yamaguchi Ichiro
Nishiuchi Hidekazu
Original Assignee
Nissan Motor
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 Nissan Motor filed Critical Nissan Motor
Publication of MX2016010589A publication Critical patent/MX2016010589A/es
Publication of MX349023B publication Critical patent/MX349023B/es

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • 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
    • G01C21/26—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
    • 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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • 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
    • G06T2207/30244—Camera pose
    • 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
    • G06T2207/30252—Vehicle exterior; Vicinity of 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
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30256—Lane; Road marking

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Multimedia (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

Un aparato de cálculo de la posición propia incluye: un proyector 11 de luz configurado para proyectar un haz 32a de luz en patrón sobre una superficie 31 del camino alrededor de un vehículo; y una cámara 12 configurada para capturar una imagen 38 de la superficie 31 del camino alrededor del vehículo que incluye un área sobre la cual se proyecta el haz 32a de luz en patrón. El aparato de cálculo de la posición propia calcula un ángulo de orientación del vehículo 10 con relación a la superficie 31 del camino a partir de una posición del haz de luz en patrón en la imagen, y calculan una cantidad de cambio en la orientación del vehículo con base en los cambios temporales en múltiples puntos de características en la superficie del camino que se detectan a partir de la imagen. El aparato de cálculo de la posición propia calcula la posición actual y el ángulo de orientación actual del vehículo sumando la cantidad de cambio en la orientación a la posición inicial y el ángulo de orientación inicial del vehículo. Si una condición bajo la cual se detectan los múltiples puntos de características no satisface un primer criterio, el aparato de cálculo de la posición propia establece la posición actual del vehículo en ese momento y el ángulo de orientación del vehículo calculado a partir de la posición del haz de luz en patrón a la posición inicial y el ángulo de orientación inicial del vehículo, y comienzan a sumar la cantidad de cambio en la orientación a la posición inicial y el ángulo de orientación inicial.
MX2016010589A 2014-02-24 2014-02-24 Aparato de calculo de la posicion propia y metodo de calculo de la posicion propia. MX349023B (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/054310 WO2015125296A1 (ja) 2014-02-24 2014-02-24 自己位置算出装置及び自己位置算出方法

Publications (2)

Publication Number Publication Date
MX2016010589A MX2016010589A (es) 2016-10-26
MX349023B true MX349023B (es) 2017-07-07

Family

ID=53877829

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2016010589A MX349023B (es) 2014-02-24 2014-02-24 Aparato de calculo de la posicion propia y metodo de calculo de la posicion propia.

Country Status (8)

Country Link
US (1) US10026196B2 (es)
EP (1) EP3113145B1 (es)
JP (1) JP6237874B2 (es)
CN (1) CN105981086B (es)
BR (1) BR112016018603B1 (es)
MX (1) MX349023B (es)
RU (1) RU2628553C1 (es)
WO (1) WO2015125296A1 (es)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6299319B2 (ja) * 2014-03-25 2018-03-28 日産自動車株式会社 自己位置算出装置及び自己位置算出方法
US9933252B2 (en) * 2014-08-04 2018-04-03 Nissan Motor Co., Ltd. Self-position calculating apparatus and self-position calculating method
CN109328292B (zh) * 2017-12-28 2022-10-11 深圳配天智能技术研究院有限公司 一种车辆定位方法、装置及存储介质
EP3746744A1 (en) * 2018-03-07 2020-12-09 Google LLC Methods and systems for determining geographic orientation based on imagery
CN110617821B (zh) * 2018-06-19 2021-11-02 北京嘀嘀无限科技发展有限公司 定位方法、装置及存储介质
CN109064506B (zh) * 2018-07-04 2020-03-13 百度在线网络技术（北京）有限公司 高精度地图生成方法、装置及存储介质
KR20200046437A (ko) * 2018-10-24 2020-05-07 삼성전자주식회사 영상 및 맵 데이터 기반 측위 방법 및 장치
EP4009628B1 (en) * 2019-08-02 2024-07-10 Nissan Motor Co., Ltd. Image processing device, and image processing method
US20210206403A1 (en) * 2020-01-03 2021-07-08 Westinghouse Air Brake Technologies Corporation Systems and methods for vehicle orientation determination

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JP2004198212A (ja) 2002-12-18 2004-07-15 Aisin Seiki Co Ltd 移動体周辺監視装置
EP1963786B1 (en) * 2005-12-23 2013-07-24 GCoder Systems AB Positioning pattern
JP5151050B2 (ja) * 2006-03-23 2013-02-27 日産自動車株式会社 車両用環境認識装置及び車両用環境認識方法
JP4914726B2 (ja) * 2007-01-19 2012-04-11 クラリオン株式会社 現在位置算出装置、現在位置算出方法
JP5092613B2 (ja) * 2007-08-06 2012-12-05 日産自動車株式会社 距離計測方法および装置、ならびに距離計測装置を備えた車両
JP5251419B2 (ja) 2008-10-22 2013-07-31 日産自動車株式会社 距離計測装置および距離計測方法
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Also Published As

Publication number Publication date
JPWO2015125296A1 (ja) 2017-03-30
EP3113145A1 (en) 2017-01-04
RU2628553C1 (ru) 2017-08-18
US20170186186A1 (en) 2017-06-29
BR112016018603B1 (pt) 2022-01-04
CN105981086B (zh) 2017-07-25
BR112016018603A2 (es) 2017-08-08
CN105981086A (zh) 2016-09-28
JP6237874B2 (ja) 2017-11-29
BR112016018603A8 (pt) 2020-06-23
WO2015125296A1 (ja) 2015-08-27
EP3113145B1 (en) 2019-11-27
US10026196B2 (en) 2018-07-17
MX2016010589A (es) 2016-10-26
EP3113145A4 (en) 2017-03-08

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