WO2009098319A3 - Navigational device for a vehicle - Google Patents

Navigational device for a vehicle Download PDF

Info

Publication number
WO2009098319A3
WO2009098319A3 PCT/EP2009/051455 EP2009051455W WO2009098319A3 WO 2009098319 A3 WO2009098319 A3 WO 2009098319A3 EP 2009051455 W EP2009051455 W EP 2009051455W WO 2009098319 A3 WO2009098319 A3 WO 2009098319A3
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
marker
navigational device
positional
image
Prior art date
Application number
PCT/EP2009/051455
Other languages
French (fr)
Other versions
WO2009098319A2 (en
Inventor
Mark Richard Tucker
Original Assignee
Trw Limited
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 Trw Limited filed Critical Trw Limited
Publication of WO2009098319A2 publication Critical patent/WO2009098319A2/en
Publication of WO2009098319A3 publication Critical patent/WO2009098319A3/en

Links

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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • 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
    • G05D1/0234—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
    • 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
    • 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • 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
    • G06T2207/30236—Traffic on road, railway or crossing
    • 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

Abstract

A navigation system comprising a navigational device suitable for fitment on or carriage by a vehicle (100) and at least one positional marker (400) located in a fixed position relative to a highway along which the vehicle can travel. The navigational device includes a processing means arranged to receive a feed from a camera including an image of a scene ahead of the vehicle (100), process the image to identify any positional markers (400) in the scene, determine the absolute position of the positional marker (400) using information associated with the marker, determine the distance between the vehicle (100) and the positional marker (400) by processing of the image fed from the camera; and from the absolute position and distance determine an estimate of the position of the vehicle (100).
PCT/EP2009/051455 2008-02-09 2009-02-09 Navigational device for a vehicle WO2009098319A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0802444.0 2008-02-09
GBGB0802444.0A GB0802444D0 (en) 2008-02-09 2008-02-09 Navigational device for a vehicle

Publications (2)

Publication Number Publication Date
WO2009098319A2 WO2009098319A2 (en) 2009-08-13
WO2009098319A3 true WO2009098319A3 (en) 2009-10-29

Family

ID=39247412

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2009/051455 WO2009098319A2 (en) 2008-02-09 2009-02-09 Navigational device for a vehicle

Country Status (2)

Country Link
GB (1) GB0802444D0 (en)
WO (1) WO2009098319A2 (en)

Families Citing this family (25)

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US8855929B2 (en) * 2010-01-18 2014-10-07 Qualcomm Incorporated Using object to align and calibrate inertial navigation system
US9229089B2 (en) 2010-06-10 2016-01-05 Qualcomm Incorporated Acquisition of navigation assistance information for a mobile station
GB2484316A (en) 2010-10-06 2012-04-11 St Microelectronics Res & Dev Self navigation of mobile devices
US9341720B2 (en) 2011-01-11 2016-05-17 Qualcomm Incorporated Camera-based position location and navigation based on image processing
US8862395B2 (en) 2011-01-31 2014-10-14 Raytheon Company Coded marker navigation system and method
US8948447B2 (en) * 2011-07-12 2015-02-03 Lucasfilm Entertainment Companyy, Ltd. Scale independent tracking pattern
US8757477B2 (en) * 2011-08-26 2014-06-24 Qualcomm Incorporated Identifier generation for visual beacon
US20130101163A1 (en) * 2011-09-30 2013-04-25 Rajarshi Gupta Method and/or apparatus for location context identifier disambiguation
DE102014202503A1 (en) * 2014-02-12 2015-08-13 Robert Bosch Gmbh Method and device for determining a distance of a vehicle to a traffic-regulating object
DE102014002150B3 (en) 2014-02-15 2015-07-23 Audi Ag Method for determining the absolute position of a mobile unit and mobile unit
DE102016212426B4 (en) 2016-07-07 2018-08-16 Audi Ag Method for determining a position and / or an orientation of a motor vehicle
CN106066179A (en) * 2016-07-27 2016-11-02 湖南晖龙股份有限公司 A kind of robot location based on ROS operating system loses method for retrieving and control system
CN108289327A (en) * 2017-01-07 2018-07-17 薛明洁 A kind of localization method and system based on image
CN107092253B (en) * 2017-04-24 2020-06-30 百度在线网络技术（北京）有限公司 Method and device for controlling unmanned vehicle and server
FR3061288A1 (en) * 2017-05-19 2018-06-29 Continental Automotive France GPS CORRECTED BY VIDEO REFERENCING ON SIGNALING PANELS FROM FINE CARTOGRAPHY
FR3061287A1 (en) * 2017-05-19 2018-06-29 Continental Automotive France GPS CORRECTION BY VIDEO REFERENCING ON PANELS TO QR CODE
US10558872B2 (en) 2018-03-23 2020-02-11 Veoneer Us Inc. Localization by vision
DE102018217734A1 (en) * 2018-10-17 2020-04-23 Robert Bosch Gmbh System of artificial landmarks in an environment for use in sensor-based localization of mobile platforms
CN109145908A (en) * 2018-10-23 2019-01-04 百度在线网络技术（北京）有限公司 Vehicle positioning method, system, device, test equipment and storage medium
JP7441843B2 (en) * 2018-12-18 2024-03-01 ボルボトラックコーポレーション How to determine vehicle coordinates
DE102019203484A1 (en) * 2019-03-14 2020-09-17 Zf Friedrichshafen Ag Method, device and system for the navigation of autonomous vehicles
CN114127506A (en) * 2019-07-04 2022-03-01 三菱电机株式会社 Mobile positioning device and mobile positioning system
DE102020205314A1 (en) 2020-04-27 2021-10-28 Zf Friedrichshafen Ag Detection element, vehicle and method
CN113701738A (en) * 2020-05-21 2021-11-26 华为技术有限公司 Vehicle positioning method and device
DE102021207180B3 (en) 2021-07-07 2022-12-15 Volkswagen Aktiengesellschaft Method and device for locating a vehicle in an environment

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0525809A (en) * 1991-07-24 1993-02-02 Nec Corp Road guide location communication system for mobile body
JP2006010328A (en) * 2004-06-22 2006-01-12 Equos Research Co Ltd Vehicle position identify device
US20060122995A1 (en) * 2003-09-01 2006-06-08 Fujitsu Limited Searching method of position information and searching system thereof
WO2007102065A1 (en) * 2006-03-06 2007-09-13 Toyota Jidosha Kabushiki Kaisha Image processing system and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0525809A (en) * 1991-07-24 1993-02-02 Nec Corp Road guide location communication system for mobile body
US20060122995A1 (en) * 2003-09-01 2006-06-08 Fujitsu Limited Searching method of position information and searching system thereof
JP2006010328A (en) * 2004-06-22 2006-01-12 Equos Research Co Ltd Vehicle position identify device
WO2007102065A1 (en) * 2006-03-06 2007-09-13 Toyota Jidosha Kabushiki Kaisha Image processing system and method

Also Published As

Publication number Publication date
WO2009098319A2 (en) 2009-08-13
GB0802444D0 (en) 2008-03-19

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