US20200348139A1 - Automatically creating a terrain mapping database - Google Patents
Automatically creating a terrain mapping database Download PDFInfo
- Publication number
- US20200348139A1 US20200348139A1 US16/930,376 US202016930376A US2020348139A1 US 20200348139 A1 US20200348139 A1 US 20200348139A1 US 202016930376 A US202016930376 A US 202016930376A US 2020348139 A1 US2020348139 A1 US 2020348139A1
- Authority
- US
- United States
- Prior art keywords
- defining
- data
- road
- road segments
- segment
- 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.)
- Abandoned
Links
- 238000013507 mapping Methods 0.000 title claims abstract description 6
- 238000000034 method Methods 0.000 claims description 23
- 230000007613 environmental effect Effects 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000000638 solvent extraction Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000036772 blood pressure Effects 0.000 description 2
- 230000036760 body temperature Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 239000004134 Dicalcium diphosphate Substances 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 239000012080 ambient air Substances 0.000 description 1
- 238000013075 data extraction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- -1 gravel Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
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
- G01C21/20—Instruments for performing navigational calculations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/01—Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/021—Measuring pressure in heart or blood vessels
-
- A61B5/0404—
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/318—Heart-related electrical modalities, e.g. electrocardiography [ECG]
- A61B5/332—Portable devices specially adapted therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
- A61B5/6893—Cars
-
- 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
-
- 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
- G01C21/26—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
- G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level
-
- 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
-
- 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
- G01C21/3815—Road 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
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3826—Terrain 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
- G01C21/3844—Data obtained from position sensors only, e.g. from inertial navigation
-
- 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
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V20/00—Geomodelling in general
-
- G01V99/005—
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
-
- 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
- G09B29/10—Map spot or coordinate position indicators; Map reading aids
- G09B29/106—Map spot or coordinate position indicators; Map reading aids using electronic means
Definitions
- the present invention relates to navigation, specifically to creating and maintaining an updated database for presenting three-dimensional guidance information to a user traveling by vehicle or pedestrian.
- a database for mapping off-road terrain of various characteristics in three-dimensional terms comprising: a plurality of road segment entries, each containing data pertaining to the terrain characteristics of the segment; and a plurality of elbow entries, each containing (x, y, z) coordinates of the elbow and a record for each road segment having the elbow as one of its end points, the record comprising navigation directives for vehicles entering the segment from the elbow.
- Each one of the road segment entries further comprises pointers to elbow entries of its end points.
- the navigation directives include consideration of the vehicle type.
- the navigation directives include consideration of the road segment that led the vehicle to the elbow.
- the navigation directives include 3D considerations.
- the navigation directives include consideration of user skills.
- the terrain characteristics within each the segment are substantially homogenous and configured to be traversed using a single set of the directives.
- the directives are configured to be defined according to indications selected from the group consisting of: mounting slope, descending slope, sharp turn, rocky terrain, bridge over river, gravel, mud and hiking section.
- the indications are configured to be translated into the directives depending on the type of the vehicles.
- the directives are stored in the database along with references to the appropriate type of the vehicle.
- the terrain characteristics further comprise at least one of sand, gravel and rock.
- the navigation directives for the road segments are configured to be continuously derived from various sensors, cameras and microphones carried or worn by a traveler.
- the sensors are selected from the group consisting of: motion sensors, environmental sensors, position sensors and wearable physiological monitoring sensors.
- the motion sensors are selected from the group consisting of: accelerometers, gravity sensors, gyroscopes and rotational vector sensors.
- the environmental sensors are selected from the group consisting of: barometers, photometers and thermometers.
- the position sensors are selected from the group consisting of: orientation sensors, magnetometers, Global Positioning System (GPS), European Geostationary Navigation Overlay Service (EGNOS) and Global Navigation Satellite System (GLONASS).
- GPS Global Positioning System
- GNOS European Geostationary Navigation Overlay Service
- GLONASS Global Navigation Satellite System
- the wearable physiological monitoring sensors are configured to measure physiological parameters selected from the group consisting of: electrocardiogram (ECG), heart rate, blood pressure and body temperature.
- ECG electrocardiogram
- heart rate heart rate
- blood pressure blood pressure
- body temperature body temperature
- a method of creating and continuously updating a database for mapping off-road terrain of various characteristics in three-dimensional terms comprising: defining a plurality of road segment, each road segment defining two bounding elbows, using at least one of maps and recorded trails; for each road segment: defining preliminary terrain characteristics; for each elbow defined by the road segment: defining preliminary navigation directives for vehicles entering the segment from the elbow; and continuously updating the database using at least one of recorded trails and data from sensors carried or worn by travelers.
- the updating comprises updating segment definitions according to recorded trails intersecting existing segments.
- the updating comprises updating segment definitions according to sensors data indicating change in terrain characteristics within existing road segments.
- the sensors are selected from the group consisting of: motion sensors, environmental sensors, position sensors and wearable physiological monitoring sensors.
- FIG. 1 is a schematic block diagram of the database according to the present invention.
- FIG. 2 is a schematic representation of a partial trails map
- FIGS. 3A and 3B show exemplary database entries describing the partial trails of FIG. 2 ;
- FIG. 4 is a schematic block diagram showing the various sources contributing to the creation and the on-going updating of the database
- FIG. 5 shows an example of a segment being divided into two segments
- FIGS. 6A and 6B show exemplary database entries describing the segment division of FIG. 5 .
- the present invention provides a novel database for mapping terrain of various characteristics in three-dimensional terms.
- the database is constructed automatically in the system by analyzing previously recorded travelers' trails and current feedback from sensors, as will be explained in detail below.
- FIG. 1 is a schematic block diagram of the database 100 according to the present invention, comprising road segments 110 and elbows 120 .
- Each road segment entry 110 contains data pertaining to the terrain characteristics of the segment.
- the terrain characteristics within each segment are substantially homogeneous and may be traversed using a single set of directives.
- Each road segment entry may also optionally point to its two bounding elbows (end points).
- Terrain characteristics may be, for example, sand, gravel, rock, etc.
- Each elbow entry 120 includes (x, y, z) coordinates of the elbow and a record for each road segment having the elbow as one of its end points, the record including navigation directives for vehicles (or pedestrians) entering the segment from the elbow.
- the directives may take into consideration:
- Type of vehicle if any e.g. 4WD, motorbike, mountain bike, horse, pedestrian etc.
- FIG. 2 is a schematic representation of a partial 3D trails map described by the exemplary database entries in FIGS. 3A and 3B .
- the database 100 is continuously updated, as will be explained below.
- FIG. 4 is a schematic block diagram showing the various sources contributing to the creation and the on-going updating of the database 100 .
- Maps 410 The basic database may be constructed using existing trails databases and/or user generated content or previously selected trails.
- Existing trails databases may comprise various available Digital Elevation Models (DEM) such as the NASA DEM, or a database collected by GPS from users which are digital representations of elevations as measured at ground level. Such elevations are calculated using a variety of methods, including stereoscopy, digitized contour data, GPS data, radar signal interpretation or other methods for extracting elevation from a given position.
- CDEM Canadian Digital Elevation Model
- data sets for a region or a predefined area may be obtained using specific data extraction tools such as found on the web site geogratis. gc.ca.
- Recorded trails 420 may be continuously updated using recorded routes taken by travelers (e.g. by replaying captured location information). For example, if a recorded trail indicates traversing an existing segment, the segment may be divided into two segments connected by a new elbow. In the example of FIG. 5 , using the partial map of FIG. 2 as a base, a new recorded trail T 510 intersecting segment S 220 causes the creation of a new elbow E 540 which divides the previous segment S 220 into two new segments S 520 and S 530 . FIG. 6 shows the resulting updated database.
- Sensors 430 Navigation directives for the various road segments may be continuously derived from various sensors carried or worn by the traveler.
- the sensors may comprise, for example:
- Motion sensors that measure acceleration forces and rotational forces along three axes. This category includes accelerometers, gravity sensors, gyroscopes, and rotational vector sensors.
- Environmental sensors that measure various environmental parameters, such as ambient air temperature and pressure, illumination, and humidity.
- This category includes barometers, photometers, and thermometers.
- Position sensors that measure the physical position of a device. This category includes orientation sensors and magnetometers, Global Positioning System (GPS), European Geostationary Navigation Overlay Service (EGNOS), Global Navigation Satellite System (GLONASS), and others.
- GPS Global Positioning System
- GNOS European Geostationary Navigation Overlay Service
- GLONASS Global Navigation Satellite System
- Wearable physiological monitoring sensors that measure various physiological parameters of the wearer (traveler) such as, for example, electrocardiogram (ECG), heart rate, blood pressure, body temperature and others.
- ECG electrocardiogram
- heart rate heart rate
- blood pressure body temperature
- body temperature body temperature
- the data aggregated from the various sensors is analyzed to determine terrain characteristics and levels of difficulty of trails. This computed data is then translated into directives stored in the elbows database in conjunction with the relevant segments.
- the sensors data may also serve to update segments and elbows definition by identifying different characteristics in various parts of a segment, which may lead to automatically partitioning the segment into two or more segments according to the different terrain characteristics which require different directives.
- Directives given to a traveler about to enter a route segment may indicate, for example, mounting slope, descending slope, sharp turn, rocky terrain, bridge over river, gravel, mud, hiking section etc.
- the various indications will be translated into different directives depending on the type of traveling vehicle. For example, “rocky terrain” may be translated into “shift to 1st gear” for a 4-wheel drive vehicle and into “walk” for a bicycle rider or initiate an alarm message such as “careful: dangerous slope ahead”.
- the various directive are stored in the database along with references to the appropriate type of traveling vehicle.
- the database of the present invention may be constructed and used also in conjunction with paved roads, typically in uncharted areas.
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Automation & Control Theory (AREA)
- Theoretical Computer Science (AREA)
- Databases & Information Systems (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Mathematical Physics (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Data Mining & Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Vascular Medicine (AREA)
- Physiology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Navigation (AREA)
Abstract
A database for mapping off-road terrain of various characteristics in three-dimensional terms, comprising: a plurality of road segment entries, each containing data pertaining to the terrain characteristics of the segment; and a plurality of elbow entries, each containing (x, y, z) coordinates of the elbow and a record for each road segment having the elbow as one of its end points, the record comprising navigation directives for vehicles entering the segment from the elbow.
Description
- This application is a continuation of U.S. patent application Ser. No. 15/698,279 filed on Sep. 7, 2017, issued on Jul. 21, 2020 as U.S. Pat. No. 10,718,618. U.S. patent application Ser. No. 15/698,279 is a continuation of International Application No. PCT/IB2016/051305, filed Mar. 8, 2016, which in turn claims the benefit of U.S. Provisional Application No. 62/131,314, filed Mar. 11, 2015. All such applications are incorporated by reference in their entirety herein.
- The present invention relates to navigation, specifically to creating and maintaining an updated database for presenting three-dimensional guidance information to a user traveling by vehicle or pedestrian.
- According to an aspect of the present invention, there is provided a database for mapping off-road terrain of various characteristics in three-dimensional terms, comprising: a plurality of road segment entries, each containing data pertaining to the terrain characteristics of the segment; and a plurality of elbow entries, each containing (x, y, z) coordinates of the elbow and a record for each road segment having the elbow as one of its end points, the record comprising navigation directives for vehicles entering the segment from the elbow.
- Each one of the road segment entries further comprises pointers to elbow entries of its end points.
- The navigation directives include consideration of the vehicle type.
- The navigation directives include consideration of the road segment that led the vehicle to the elbow.
- The navigation directives include 3D considerations.
- The navigation directives include consideration of user skills.
- The terrain characteristics within each the segment are substantially homogenous and configured to be traversed using a single set of the directives.
- The directives are configured to be defined according to indications selected from the group consisting of: mounting slope, descending slope, sharp turn, rocky terrain, bridge over river, gravel, mud and hiking section.
- The indications are configured to be translated into the directives depending on the type of the vehicles.
- The directives are stored in the database along with references to the appropriate type of the vehicle.
- The terrain characteristics further comprise at least one of sand, gravel and rock.
- The navigation directives for the road segments are configured to be continuously derived from various sensors, cameras and microphones carried or worn by a traveler.
- The sensors are selected from the group consisting of: motion sensors, environmental sensors, position sensors and wearable physiological monitoring sensors.
- The motion sensors are selected from the group consisting of: accelerometers, gravity sensors, gyroscopes and rotational vector sensors.
- The environmental sensors are selected from the group consisting of: barometers, photometers and thermometers.
- The position sensors are selected from the group consisting of: orientation sensors, magnetometers, Global Positioning System (GPS), European Geostationary Navigation Overlay Service (EGNOS) and Global Navigation Satellite System (GLONASS).
- The wearable physiological monitoring sensors are configured to measure physiological parameters selected from the group consisting of: electrocardiogram (ECG), heart rate, blood pressure and body temperature.
- According to another aspect of the present invention, there is provided a method of creating and continuously updating a database for mapping off-road terrain of various characteristics in three-dimensional terms, comprising: defining a plurality of road segment, each road segment defining two bounding elbows, using at least one of maps and recorded trails; for each road segment: defining preliminary terrain characteristics; for each elbow defined by the road segment: defining preliminary navigation directives for vehicles entering the segment from the elbow; and continuously updating the database using at least one of recorded trails and data from sensors carried or worn by travelers.
- The updating comprises updating segment definitions according to recorded trails intersecting existing segments.
- The updating comprises updating segment definitions according to sensors data indicating change in terrain characteristics within existing road segments.
- The sensors are selected from the group consisting of: motion sensors, environmental sensors, position sensors and wearable physiological monitoring sensors.
- For better understanding of the invention and to show how the same may be carried into effect, reference will be made, purely by way of example, to the accompanying drawings.
- With specific reference to the drawings in detail, it is stressed that the particulars shown are by way of example and for purposes of illustrative discussion of the preferred embodiments of the present invention only, and are presented in the cause of providing what is believed to be the most useful and readily understood description of the principles and conceptual aspects of the invention. In this regard, no attempt is made to show structural details of the invention in more detail than is necessary for a fundamental understanding of the invention, the description taken with the drawings making apparent to those skilled in the art how the several forms of the invention may be embodied in practice. In the accompanying drawings:
-
FIG. 1 is a schematic block diagram of the database according to the present invention; -
FIG. 2 is a schematic representation of a partial trails map; -
FIGS. 3A and 3B show exemplary database entries describing the partial trails ofFIG. 2 ; -
FIG. 4 is a schematic block diagram showing the various sources contributing to the creation and the on-going updating of the database; -
FIG. 5 shows an example of a segment being divided into two segments; and -
FIGS. 6A and 6B show exemplary database entries describing the segment division ofFIG. 5 . - The present invention provides a novel database for mapping terrain of various characteristics in three-dimensional terms. The database is constructed automatically in the system by analyzing previously recorded travelers' trails and current feedback from sensors, as will be explained in detail below.
-
FIG. 1 is a schematic block diagram of thedatabase 100 according to the present invention, comprisingroad segments 110 andelbows 120. - Each
road segment entry 110 contains data pertaining to the terrain characteristics of the segment. In a preferred embodiment of the invention the terrain characteristics within each segment are substantially homogeneous and may be traversed using a single set of directives. Each road segment entry may also optionally point to its two bounding elbows (end points). Terrain characteristics may be, for example, sand, gravel, rock, etc. - Each
elbow entry 120 includes (x, y, z) coordinates of the elbow and a record for each road segment having the elbow as one of its end points, the record including navigation directives for vehicles (or pedestrians) entering the segment from the elbow. - The directives may take into consideration:
- Type of vehicle if any (e.g. 4WD, motorbike, mountain bike, horse, pedestrian etc.)
- The road segment that led the vehicle/user to the elbow and specifically 3D considerations, namely altitude changes between the segments.
- Various skill levels of users in any of the vehicle types.
-
FIG. 2 is a schematic representation of a partial 3D trails map described by the exemplary database entries inFIGS. 3A and 3B . - The
database 100 is continuously updated, as will be explained below. -
FIG. 4 is a schematic block diagram showing the various sources contributing to the creation and the on-going updating of thedatabase 100. - Maps 410—The basic database may be constructed using existing trails databases and/or user generated content or previously selected trails.
- Existing trails databases may comprise various available Digital Elevation Models (DEM) such as the NASA DEM, or a database collected by GPS from users which are digital representations of elevations as measured at ground level. Such elevations are calculated using a variety of methods, including stereoscopy, digitized contour data, GPS data, radar signal interpretation or other methods for extracting elevation from a given position. CDEM (Canadian Digital Elevation Model) data sets for a region or a predefined area may be obtained using specific data extraction tools such as found on the web site geogratis. gc.ca.
- Recorded trails 420—Segments and elbows definitions may be continuously updated using recorded routes taken by travelers (e.g. by replaying captured location information). For example, if a recorded trail indicates traversing an existing segment, the segment may be divided into two segments connected by a new elbow. In the example of
FIG. 5 , using the partial map ofFIG. 2 as a base, a new recorded trail T510 intersecting segment S220 causes the creation of a new elbow E540 which divides the previous segment S220 into two new segments S520 and S530.FIG. 6 shows the resulting updated database. -
Sensors 430—Navigation directives for the various road segments may be continuously derived from various sensors carried or worn by the traveler. The sensors may comprise, for example: - Motion sensors—that measure acceleration forces and rotational forces along three axes. This category includes accelerometers, gravity sensors, gyroscopes, and rotational vector sensors.
- Environmental sensors—that measure various environmental parameters, such as ambient air temperature and pressure, illumination, and humidity.
- This category includes barometers, photometers, and thermometers.
- Position sensors—that measure the physical position of a device. This category includes orientation sensors and magnetometers, Global Positioning System (GPS), European Geostationary Navigation Overlay Service (EGNOS), Global Navigation Satellite System (GLONASS), and others.
- Wearable physiological monitoring sensors—that measure various physiological parameters of the wearer (traveler) such as, for example, electrocardiogram (ECG), heart rate, blood pressure, body temperature and others.
- Cameras. Microphones.
- The data aggregated from the various sensors is analyzed to determine terrain characteristics and levels of difficulty of trails. This computed data is then translated into directives stored in the elbows database in conjunction with the relevant segments.
- The sensors data may also serve to update segments and elbows definition by identifying different characteristics in various parts of a segment, which may lead to automatically partitioning the segment into two or more segments according to the different terrain characteristics which require different directives.
- Directives given to a traveler about to enter a route segment may indicate, for example, mounting slope, descending slope, sharp turn, rocky terrain, bridge over river, gravel, mud, hiking section etc.
- The various indications will be translated into different directives depending on the type of traveling vehicle. For example, “rocky terrain” may be translated into “shift to 1st gear” for a 4-wheel drive vehicle and into “walk” for a bicycle rider or initiate an alarm message such as “careful: dangerous slope ahead”.
- The various directive are stored in the database along with references to the appropriate type of traveling vehicle.
- It will be appreciated by persons skilled in the art that the present invention is not limited to what has been particularly shown and described hereinabove. Rather the scope of the present invention is defined by the appended claims and includes both combinations and sub-combinations of the various features described hereinabove as well as variations and modifications thereof which would occur to persons skilled in the art upon reading the foregoing description. For example, the database of the present invention may be constructed and used also in conjunction with paved roads, typically in uncharted areas.
Claims (19)
1. A method of mapping a terrain, the method comprising:
defining a set of road segments within the terrain;
receiving motion data from motion sensors disposed on an object traveling through one or more road segments of the set of road segments; and
determining, based on the motion data, terrain characteristics of the one or more road segments.
2. The method of claim 1 , comprising:
identifying a road segment of the one or more road segments that has different terrain characteristics in different parts of the road segment; and
partitioning the identified road segment into two or more new road segments based on the identification.
3. The method of claim 1 , comprising defining navigation directives for the one or more road segments based on the terrain characteristics of the one or more road segments.
4. The method of claim 1 , comprising defining navigation directives for the one or more road segments based on the motion data the motion sensors.
5. The method of claim 1 , comprising defining navigation directives for the one or more road segments based on data from environmental sensors disposed on the object.
6. The method of claim 1 , comprising defining navigation directives for the one or more road segments based on data from position sensors disposed on the object.
7. The method of claim 1 , comprising defining navigation directives for the one or more road segments based on data from physiological monitoring sensors disposed on the object.
8. The method of claim 1 , comprising defining navigation directives for the one or more road segments based on data from cameras disposed on the object.
9. The method of claim 1 , comprising defining navigation directives for the one or more road segments based on data from microphones disposed on the object.
10. The method of claim 1 , wherein defining each road segment of the set of road segments comprises:
defining two end points for the respective road segment;
defining terrain characteristics for the respective road segment; and
defining, for each end point of the respective road segment, navigation directives for the object entering the respective road segment from the respective end point based on the defined terrain characteristics of the respective road segment.
11. The method of claim 10 , comprising defining the navigation directives further based on a type of the object.
12. The method of claim 10 , comprising defining the navigation directives further based on terrain characteristics of a road segment from which the object has entered the respective end point of the respective road segment.
13. The method of claim 10 , comprising defining the navigation directives further based on skills of a user of the object.
14. The method of claim 10 , comprising defining navigation directives further based on the motion data from the motion sensors.
15. The method of claim 10 , comprising defining navigation directives further based on data from environmental sensors disposed on the object.
16. The method of claim 10 , comprising defining navigation directives further based on data from position sensors disposed on the object.
17. The method of claim 10 , comprising defining navigation directives further based on data from physiological monitoring sensors disposed on the object.
18. The method of claim 10 , comprising defining navigation directives further based on data from cameras disposed on the object.
19. The method of claim 10 , comprising defining navigation directives further based on data from microphones disposed on the object.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/930,376 US20200348139A1 (en) | 2015-03-11 | 2020-07-16 | Automatically creating a terrain mapping database |
US17/160,406 US12025446B2 (en) | 2015-03-11 | 2021-01-28 | Automatically creating a terrain mapping database |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562131314P | 2015-03-11 | 2015-03-11 | |
PCT/IB2016/051305 WO2016142858A1 (en) | 2015-03-11 | 2016-03-08 | Automatically creating a terrain mapping database |
US15/698,279 US10718618B2 (en) | 2015-03-11 | 2017-09-07 | Automatically creating a terrain mapping database |
US16/930,376 US20200348139A1 (en) | 2015-03-11 | 2020-07-16 | Automatically creating a terrain mapping database |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US15/698,279 Continuation US10718618B2 (en) | 2015-03-11 | 2017-09-07 | Automatically creating a terrain mapping database |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US17/160,406 Continuation-In-Part US12025446B2 (en) | 2015-03-11 | 2021-01-28 | Automatically creating a terrain mapping database |
Publications (1)
Publication Number | Publication Date |
---|---|
US20200348139A1 true US20200348139A1 (en) | 2020-11-05 |
Family
ID=56880067
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US15/698,279 Active 2036-06-29 US10718618B2 (en) | 2015-03-11 | 2017-09-07 | Automatically creating a terrain mapping database |
US16/930,376 Abandoned US20200348139A1 (en) | 2015-03-11 | 2020-07-16 | Automatically creating a terrain mapping database |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US15/698,279 Active 2036-06-29 US10718618B2 (en) | 2015-03-11 | 2017-09-07 | Automatically creating a terrain mapping database |
Country Status (3)
Country | Link |
---|---|
US (2) | US10718618B2 (en) |
EP (1) | EP3268696A4 (en) |
WO (1) | WO2016142858A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20230152123A1 (en) * | 2021-11-12 | 2023-05-18 | InSitu, Inc., a subsidiary of the Boeing Company | Route planning for a ground vehicle through unfamiliar terrain |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US12025446B2 (en) | 2015-03-11 | 2024-07-02 | Trailze Ltd | Automatically creating a terrain mapping database |
GB2552028B (en) | 2016-07-08 | 2020-07-08 | Jaguar Land Rover Ltd | Off-Road Route Rating System |
BR112020008778B1 (en) | 2017-10-31 | 2023-11-28 | Agjunction Llc | TERRAIN MAPPING SYSTEM FOR A VEHICLE, NON-TRANSIENT AND TANGIBLE COMPUTER READABLE METHOD AND MEDIUM |
EP3539839B1 (en) * | 2018-03-13 | 2022-05-04 | Alpine Electronics, Inc. | Computer-implemented method and system for processing data related to a motor vehicle |
WO2020057801A1 (en) * | 2018-09-20 | 2020-03-26 | Jaguar Land Rover Limited | Control system for a vehicle |
US11538218B2 (en) * | 2020-07-02 | 2022-12-27 | Toyota Motor Engineering & Manufacturing North America, Inc. | System and method for three-dimensional reproduction of an off-road vehicle |
US11480441B2 (en) * | 2020-08-20 | 2022-10-25 | Arthur Nemirovsky | Systems and methods for trail visualization using augmented reality |
WO2022162657A1 (en) * | 2021-01-28 | 2022-08-04 | Trailze Ltd | Automatically creating a terrain mapping database |
US11727164B1 (en) * | 2022-09-21 | 2023-08-15 | Embark Trucks Inc. | Three-dimensional road geometry estimation |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20200124430A1 (en) * | 2018-10-19 | 2020-04-23 | Neutron Holdings, Inc. | Detecting types of travel corridors on which personal mobility vehicles travel |
US20210095970A1 (en) * | 2019-09-30 | 2021-04-01 | Lyft, Inc. | Mapping and determining scenarios for geographic regions |
US11193781B2 (en) * | 2017-10-31 | 2021-12-07 | Agjunction Llc | Predicting terrain traversability for a vehicle |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7957893B2 (en) * | 2004-11-30 | 2011-06-07 | Dash Navigation, Inc. | Methods and systems for deducing road geometry and connectivity |
NZ549547A (en) * | 2006-08-31 | 2008-12-24 | Trekwizard Ltd | Methods and apparatus of grading a route and calculating travel time information for the route |
EP2159777A3 (en) * | 2008-05-30 | 2016-05-04 | HERE Global B.V. | Data mining to identify locations of potentially hazardous conditions for vehicle operation and use thereof |
US8682575B2 (en) * | 2009-06-25 | 2014-03-25 | Denso International America, Inc. | Off road navigation system |
CN104081158B (en) * | 2011-11-18 | 2018-02-02 | 通腾北美有限公司 | For the method and apparatus for the cost data for being created for using in the route across electronic map is produced |
-
2016
- 2016-03-08 EP EP16761178.9A patent/EP3268696A4/en not_active Ceased
- 2016-03-08 WO PCT/IB2016/051305 patent/WO2016142858A1/en active Application Filing
-
2017
- 2017-09-07 US US15/698,279 patent/US10718618B2/en active Active
-
2020
- 2020-07-16 US US16/930,376 patent/US20200348139A1/en not_active Abandoned
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11193781B2 (en) * | 2017-10-31 | 2021-12-07 | Agjunction Llc | Predicting terrain traversability for a vehicle |
US20200124430A1 (en) * | 2018-10-19 | 2020-04-23 | Neutron Holdings, Inc. | Detecting types of travel corridors on which personal mobility vehicles travel |
US20210095970A1 (en) * | 2019-09-30 | 2021-04-01 | Lyft, Inc. | Mapping and determining scenarios for geographic regions |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20230152123A1 (en) * | 2021-11-12 | 2023-05-18 | InSitu, Inc., a subsidiary of the Boeing Company | Route planning for a ground vehicle through unfamiliar terrain |
Also Published As
Publication number | Publication date |
---|---|
EP3268696A1 (en) | 2018-01-17 |
WO2016142858A1 (en) | 2016-09-15 |
EP3268696A4 (en) | 2018-11-21 |
US20180058858A1 (en) | 2018-03-01 |
US10718618B2 (en) | 2020-07-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20200348139A1 (en) | Automatically creating a terrain mapping database | |
US10782138B2 (en) | Method, apparatus, and computer program product for pedestrian behavior profile generation | |
US9574885B2 (en) | Physical disability probes for geographic information | |
US20200193194A1 (en) | Methods and systems for roadwork zone identification | |
JP2016511860A (en) | Driving support | |
US10859392B2 (en) | Dynamic one-way street detection and routing penalties | |
CN105806351B (en) | A kind of road information estimation method and device | |
TW201111744A (en) | Method of verifying or deriving attribute information of a digital transportation network database using interpolation and probe traces | |
US10445610B2 (en) | Method, apparatus, and computer program product for determining vehicle lanes of a road segment based on received probe data | |
US10976164B2 (en) | Methods and systems for route generation through an area | |
US20210152974A1 (en) | Neural network classifier for detection of travel mode associated with computing devices | |
US11248929B2 (en) | Methods and systems for chronicled history information in a map | |
US12025446B2 (en) | Automatically creating a terrain mapping database | |
US9664518B2 (en) | Method and system for comparing performance statistics with respect to location | |
US12007784B2 (en) | Method and apparatus for self localization | |
Wage et al. | Ride vibrations: Towards comfort-based bicycle navigation | |
JP2004110590A (en) | Generation method of evaluation model of road surface condition for bicycle, evaluation method of road surface environment for bicycle, and evaluation system | |
EP4093063B1 (en) | Method, apparatus, and computer program product for quantifying the privacy risk of trajectory data | |
JP4816561B2 (en) | Information creating apparatus, information creating method and program | |
US11302345B2 (en) | Method, apparatus, and computer program product for vehicle localization via frequency audio features | |
Sultan et al. | Using crowdsourced volunteered geographic information for analyzing bicycle road networks | |
WO2022162657A1 (en) | Automatically creating a terrain mapping database | |
US20240035826A1 (en) | Information processing device, electronic device, information processing method, and recording medium | |
KR20180104881A (en) | A system for detecting risky mountain trail segments using wearable sensors | |
De Agostino et al. | Development of an Italian low cost GNSS/INS system universally suitable for mobile mapping |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STPP | Information on status: patent application and granting procedure in general |
Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION |
|
AS | Assignment |
Owner name: TRAILZE LTD, ISRAEL Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:BITAN, RONEN;LAVI, TAL;REEL/FRAME:054868/0128 Effective date: 20200804 |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: NON FINAL ACTION MAILED |
|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |