WO2017109066A1 - A computer implemented method for interactively providing waypoints for use in the pre-marking/marking/remarking of a surface structure - Google Patents
A computer implemented method for interactively providing waypoints for use in the pre-marking/marking/remarking of a surface structure Download PDFInfo
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- G06T1/00—General purpose image data processing
Definitions
- the present invention relates to a computer implemented method for interactively providing waypoints for use in the pre- marking/marking/remarking of a surface structure.
- pre-marking A major part of the street striping operation is called "pre-marking", which consists of measuring, from the curb or edge of the roadway, the locations at which the longitudinal paint lines are later applied.
- pre-marking A significant amount of the pre-marking is done manually. For example, measurements are taken with a tape or string from the edge of the roadway, and paint spots are made on the street using a spray can or similar painting device. The result is not only time-consuming but more importantly, is especially dangerous. Due to the risk involved, the street workers must be on constant alert to ongoing vehicle traffic while trying to make the appropriate measurements.
- Other types of pre-marking are done with machines measuring the distance to the road edge, while pre-marking the
- One aspect relates to a computer implemented method for interactively providing waypoints for use in the marking of a surface structure comprising the steps of:
- i) displaying one or more georeferenced and ortho-rectified image/video frames of a geographical area to be pre-marked or marked orremarked; ii) upon selection of a control (control function) accepting manual selection by a user of one or more target locations for marking, and a geometric figure (e.g.
- An image/video frame is said to be georeferenced when it is provided accompanied by a mathematical function making it possible to perform a match between the points of the image/video frame and the geographical coordinates of the corresponding points in the visualized three-dimensional world.
- an ortho-rectified image/video frame is an image/video frame whereof the geography has been corrected so that each of its points can be superimposed on a corresponding flat map.
- geometric figure in the context of this application is to be interpreted as meaning a figure of almost any desired shape, such as triangular shapes, straight or curved stripes/elements, straight or curved lines/elements (such as circular arcs), spiral
- a mapping application may determine the geographic coordinates
- coordinates are known for at least two opposite corners of the georeferenced and ortho-rectified image/video frame.
- geographical coordinates for the selected pixel in the georeferenced and ortho-rectified image/video frame can be computed using the known geographical coordinates.
- the computer implemented method further comprises the step of:
- the one or more target locations are selected by dragging and dropping the selected geometric figure thereto.
- the geometric figure is scaled and depicted in accordance with the scale of the georeferenced and ortho-rectified image/video frame.
- the geometric figure comprises a curved element.
- the step of computing the best fit for the geometric figure on the ortho-rectified image/video frame is based on a plurality of target locations, such as two, three, four, five, six, seven, eight, nine, or ten target locations.
- target locations such as two, three, four, five, six, seven, eight, nine, or ten target locations.
- the road alignment or horizontal plan of the route, comprises straight sections and circular arcs, linked by smooth transitions to avoid any sudden changes.
- On a straight stretch or tangent section there are no lateral forces.
- On a circular section there is an outward force (the centrifugal force), which varies with the square of the speed and with the curvature.
- the curvature, or bendiness is the inverse of the radius, and is larger for sharper bends.
- the transitions between the straight sections and circular arcs are more exotic curves called clothoids. If the road were to change abruptly from a straight section to an arc, a sudden steering maneuver would be needed and a jerky onset of the centrifugal force would mean a very uncomfortable ride.
- the geometric figure comprises a curved element
- the step of computing the best fit for the geometric figure on the ortho-rectified image/video frame is based on a plurality of target locations
- the best fit operation comprises the step of curve fitting the curved element based on said plurality of target locations.
- the geometric figure comprises a clothoid spiral section
- the step of computing the best fit for the geometric figure on the ortho-rectified image/video frame is based on a plurality of target locations
- the best fit operation comprises the step of fitting the clothoid spiral section based on said plurality of target locations.
- the geometric figure comprises a straight element, a clothoid spiral section, and a circular arc; wherein the step of computing the best fit for the geometric figure on the ortho-rectified image/video frame is based on a plurality of target locations, and wherein the best fit operation comprises the step of fitting the straight element, the clothoid spiral section, and the curved element in relation to one another based on said plurality of target locations.
- the geometric figure comprises a straight element, a clothoid spiral section, and a curved element; wherein the step of computing the best fit for the geometric figure on the ortho-rectified image/video frame is based on a plurality of target locations, and wherein the best fit operation comprises the step of fitting the straight element, the clothoid spiral section, and the curved element in relation to one another based on said plurality of target locations.
- the curve fitting operation is to be understood as the process of constructing a curve, or mathematical function, that has the best fit to a series of data points (target locations), preferably subject to pre- defined constraints.
- the marking of an athletic field or a parking lot requires fitting if you try to mark a rectangle with more than two points. Two points do not define a rectangle, and three points may not be the corners defining the rectangle. Therefore, a fitting operation is necessary in order to define a rectangle with at least three points.
- the computed geographic coordinates of the geometric figure for being marked includes predefined reference points defining specific positions on said geometric figure, such as a center point or midline. Such information may be used by the mobile paint marking machine for proper positioning.
- the one or more georeferenced and ortho- rectified image/video frames of a geographical area includes a previously marked geometric figure, and wherein the user selects one or more target locations for marking at x,y display coordinates corresponding to a position within the area covered by said previously marked geometric figure.
- a second aspect relates to an apparatus for interactively providing waypoints for use in the marking of a surface comprising:
- a memory coupled to the processor, wherein the memory comprises program instructions implementing a graphical user interface for interactively selecting one or more target locations for marking, and a geometric figure for being marked, wherein the program instructions are executable by the processor for:
- - processing a user input routine that processes selection of a control accepting manual selection by a user of one or more target locations for marking, and a geometric figure for being marked; wherein the manual selection of the one or more target locations for performing a marking is made directly on the georeferenced and ortho-rectified image/video frame at one or more particular points on said georeferenced and ortho-rectified image/video frame;
- a third aspect relates to a computer program product, for interactively providing waypoints for use in the marking of a surface
- the computer program product comprising a readable memory device having computer readable program code stored thereon, including program code which, when executed, causes one or more processors to perform the steps of:
- - processing a user input routine that processes selection of a control accepting manual selection by a user of one or more target locations for marking, and a two-dimensional geometric figure for being marked; wherein the manual selection of the one or more target locations for performing a marking is made directly on the georeferenced and ortho-rectified image/video frame at one or more particular points on said georeferenced and ortho-rectified image/video frame;
- the program code when executed, further causes the one or more processors to perform the step of:
- the program code when executed, further causes the one or more processors to perform the step of:
- Figure 1 shows a display of a georeferenced and ortho-rectified image of a geographical area to be pre-marked
- Figure 2 shows a display of a georeferenced and ortho-rectified image of a geographical area to be pre-marked.
- Figure 1 shows a display 100 of a georeferenced and ortho-rectified image of a geographical area to be pre-marked, with user-selected target locations 200 for marking, and with a computed best fit for the geometric figure (repeated stripes) 300.
- Figure 2A also shows a display 100 of a georeferenced and ortho-rectified image of a geographical area to be pre-marked, with user-selected target locations 200 for marking.
- Figure 2B shows the result of a random curve fitting operation
- Figure 2C shows the result of a curve fitting operation, where the user has pre-selected a geometric figure for being marked in the form of a circular arc. It is evident from Figure 2, that the pre-selection of a geometric figure results in a more precise road marking.
Abstract
The present invention relates to a computer implemented method for interactively providing waypoints for use in the pre-marking/marking/remarking of a surface structure. The method comprises the steps of i) displaying one or more georeferenced and ortho-rectified image/video frames of a geographical area to be pre-marked/marked/remarked; ii) upon selection of a control accepting manual selection by a user of one or more target locations for marking, and a geometric figure for being marked, computing the best fit for the geometric figure on the georeferenced and ortho-rectified image/video frame based on the one or more target locations; wherein the manual selection of the one or more target locations for performing a marking is made directly on the georeferenced and ortho-rectified image/video frame at one or more particular points on said georeferenced and ortho-rectified image/video frame; and iii) computing geographic coordinates of the geometric figure for being marked from x,y display coordinates corresponding to the fitted position of said geometric figure on the georeferenced and ortho-rectified image/video frame.
Description
A computer implemented method for interactively providing waypoints for use in the pre-marking/marking/remarking of a surface structure
Technical field of the invention
The present invention relates to a computer implemented method for interactively providing waypoints for use in the pre- marking/marking/remarking of a surface structure.
Background of the invention
Painting center line, side line stripes, and other road markings on streets and roads and parking areas is important for guiding motorists and to reduce the possibility of accidents both by head on collisions and by vehicles colliding with vehicles, persons, or other objects. Therefore, many road authorities and private entities undertake to paint centerlines, stripes, and other road markings.
A major part of the street striping operation is called "pre-marking", which consists of measuring, from the curb or edge of the roadway, the locations at which the longitudinal paint lines are later applied. A significant amount of the pre-marking is done manually. For example, measurements are taken with a tape or string from the edge of the roadway, and paint spots are made on the street using a spray can or similar painting device. The result is not only time-consuming but more importantly, is especially dangerous. Due to the risk involved, the street workers must be on constant alert to ongoing vehicle traffic while trying to make the appropriate measurements. Other types of pre-marking are done with machines measuring the distance to the road edge, while pre-marking the
approximate centerline. This process is performed in both directions of the road, leading to two conflicting pre-marking lines to be used by the line
marker.
Summary of the invention
It is one object of the present invention to provide a pre- marking/marking/remarking method, which would substantially eliminate the need for street workers to be positioned on the street during the pre- marking/marking/remarking process.
It is another object of the present invention to provide a pre- marking/marking/remarking method, which is faster and thus more efficient than the manual street pre-marking/marking/remarking processes.
It is a yet further object of the present invention to provide a pre- marking/marking/remarking method using substantially less work force than in the conventional manual pre-marking/marking/remarking procedures.
One aspect relates to a computer implemented method for interactively providing waypoints for use in the marking of a surface structure comprising the steps of:
i) displaying one or more georeferenced and ortho-rectified image/video frames of a geographical area to be pre-marked or marked orremarked; ii) upon selection of a control (control function) accepting manual selection by a user of one or more target locations for marking, and a geometric figure (e.g. two-dimensional) for being marked, computing the best fit for the geometric figure on the ortho-rectified image/video frame based on the one or more target locations; wherein the manual selection of the one or more target locations for performing a marking is made directly on the georeferenced and ortho-rectified image/video frame at one or more particular points on said georeferenced and ortho-rectified image/video frame; and
iii) computing geographic coordinates of the geometric figure for being marked from x,y display coordinates corresponding to the fitted position of said geometric figure on the georeferenced and ortho-rectified image/video frame.
An image/video frame is said to be georeferenced when it is provided accompanied by a mathematical function making it possible to perform a match between the points of the image/video frame and the geographical coordinates of the corresponding points in the visualized three-dimensional world. Two types of georeferenced images/video frames exist: raw images/video frames, coming directly from the observation sensor, and reprocessed images, in particular ortho-rectified, also called ortho-images, which have in particular been corrected for the effects of the geodetic height of the visualized terrain, and which assume that at each point of the image/video frame, the observation point is at the vertical of the
corresponding point of the terrain. Thus, an ortho-rectified image/video frame is an image/video frame whereof the geography has been corrected so that each of its points can be superimposed on a corresponding flat map.
It should be noted that the term "geometric figure" in the context of this application is to be interpreted as meaning a figure of almost any desired shape, such as triangular shapes, straight or curved stripes/elements, straight or curved lines/elements (such as circular arcs), spiral
lines/elements, straight or curved arrows, parabolic shapes, or sports field line marks. Hence, any shape, which may be depicted by line segments, and which may appear in a repeating pattern are included.
A mapping application may determine the geographic coordinates
(latitude/longitude) that map to the identified pixel. Geographical
coordinates are known for at least two opposite corners of the
georeferenced and ortho-rectified image/video frame. Thus, knowing the dimension of the image/frame in pixels and the location of the selected pixel, geographical coordinates for the selected pixel in the georeferenced and ortho-rectified image/video frame can be computed using the known geographical coordinates.
In one or more embodiments, the computer implemented method further comprises the step of:
iv) making the geographic coordinates of the geometric figure for being marked available for a mobile paint marking machine.
In one or more embodiments, the one or more target locations are selected by dragging and dropping the selected geometric figure thereto. In one or more embodiments, the geometric figure is scaled and depicted in accordance with the scale of the georeferenced and ortho-rectified image/video frame.
In one or more embodiments, the geometric figure comprises a curved element.
In one or more embodiments, the step of computing the best fit for the geometric figure on the ortho-rectified image/video frame is based on a plurality of target locations, such as two, three, four, five, six, seven, eight, nine, or ten target locations. Even though the user can click on an ortho- rectified image/video frame with a precision of 10 cm, the total result of many clicks, and the knowledge of the geometric figure, can result in a better fit than the 10 cm. On a highway or motorway, every twist and turn, every rise and sag, has been mathematically modelled to ensure that the user has a pleasant and
uneventful journey. Aesthetics play a role in highway or motorway design, but the primary focus is on driver safety and comfort. The road alignment, or horizontal plan of the route, comprises straight sections and circular arcs, linked by smooth transitions to avoid any sudden changes. On a straight stretch or tangent section, there are no lateral forces. On a circular section, there is an outward force (the centrifugal force), which varies with the square of the speed and with the curvature. The curvature, or bendiness, is the inverse of the radius, and is larger for sharper bends. The transitions between the straight sections and circular arcs are more exotic curves called clothoids. If the road were to change abruptly from a straight section to an arc, a sudden steering maneuver would be needed and a jerky onset of the centrifugal force would mean a very uncomfortable ride. To avoid this, a clothoid spiral section is interposed, linking the tangent to the arc. As road markings are almost always constructed as a combination of straight lines, clothoids and circular arcs, the fitting operation can benefit from this knowledge. Furthermore, as straight lines and circle arcs are special cases of the clothoid, all roads constructed as a combination of straight lines, clothoids and circular arcs can be described as a set of clothoids, where some of these are special cases straight lines and circular arcs and others are clothoids with spiral attributes. The fitting operation is there simplified to be a fitting of clothoids to the sampled dataset.
In one or more embodiments, the geometric figure comprises a curved element, wherein the step of computing the best fit for the geometric figure on the ortho-rectified image/video frame is based on a plurality of target locations, and wherein the best fit operation comprises the step of curve fitting the curved element based on said plurality of target locations. Such operation may improve the accuracy of positioning the curved element compared to what is possible from the resolution of the georeferenced and ortho-rectified image/video frame alone.
In one or more embodiments, the geometric figure comprises a clothoid spiral section, wherein the step of computing the best fit for the geometric figure on the ortho-rectified image/video frame is based on a plurality of target locations, and wherein the best fit operation comprises the step of fitting the clothoid spiral section based on said plurality of target locations. Such operation may improve the accuracy of positioning the clothoid spiral section compared to what is possible from the resolution of the
georeferenced and ortho-rectified image/video frame alone.
In one or more embodiments, the geometric figure comprises a straight element, a clothoid spiral section, and a circular arc; wherein the step of computing the best fit for the geometric figure on the ortho-rectified image/video frame is based on a plurality of target locations, and wherein the best fit operation comprises the step of fitting the straight element, the clothoid spiral section, and the curved element in relation to one another based on said plurality of target locations.
In one or more embodiments, the geometric figure comprises a straight element, a clothoid spiral section, and a curved element; wherein the step of computing the best fit for the geometric figure on the ortho-rectified image/video frame is based on a plurality of target locations, and wherein the best fit operation comprises the step of fitting the straight element, the clothoid spiral section, and the curved element in relation to one another based on said plurality of target locations.
In the present context, the curve fitting operation is to be understood as the process of constructing a curve, or mathematical function, that has the best fit to a series of data points (target locations), preferably subject to pre- defined constraints. As an example, the marking of an athletic field or a parking lot requires fitting if you try to mark a rectangle with more than two
points. Two points do not define a rectangle, and three points may not be the corners defining the rectangle. Therefore, a fitting operation is necessary in order to define a rectangle with at least three points. In one or more embodiments, the computed geographic coordinates of the geometric figure for being marked includes predefined reference points defining specific positions on said geometric figure, such as a center point or midline. Such information may be used by the mobile paint marking machine for proper positioning.
In one or more embodiments, the one or more georeferenced and ortho- rectified image/video frames of a geographical area includes a previously marked geometric figure, and wherein the user selects one or more target locations for marking at x,y display coordinates corresponding to a position within the area covered by said previously marked geometric figure.
A second aspect relates to an apparatus for interactively providing waypoints for use in the marking of a surface comprising:
a processor; and
a memory coupled to the processor, wherein the memory comprises program instructions implementing a graphical user interface for interactively selecting one or more target locations for marking, and a geometric figure for being marked, wherein the program instructions are executable by the processor for:
- displaying georeferenced and ortho-rectified image/video frames of a geographical area to be pre-marked/marked/remarked;
- processing a user input routine that processes selection of a control accepting manual selection by a user of one or more target locations for marking, and a geometric figure for being marked; wherein the manual selection of the one or more target locations for performing a marking is made directly on the georeferenced and ortho-rectified image/video frame
at one or more particular points on said georeferenced and ortho-rectified image/video frame;
- computing the best fit for the geometric figure on the georeferenced and ortho-rectified image/video frame based on the one or more target locations; and
- computing geographic coordinates of the geometric figure for being marked from x,y display coordinates corresponding to the fitted position of said geometric figure on the georeferenced and ortho-rectified image/video frame.
A third aspect relates to a computer program product, for interactively providing waypoints for use in the marking of a surface, the computer program product comprising a readable memory device having computer readable program code stored thereon, including program code which, when executed, causes one or more processors to perform the steps of:
- displaying georeferenced and ortho-rectified image/video frames of a geographical area to be pre-marked/marked/remarked;
- processing a user input routine that processes selection of a control accepting manual selection by a user of one or more target locations for marking, and a two-dimensional geometric figure for being marked; wherein the manual selection of the one or more target locations for performing a marking is made directly on the georeferenced and ortho-rectified image/video frame at one or more particular points on said georeferenced and ortho-rectified image/video frame;
- computing the best fit for the geometric figure on the georeferenced and ortho-rectified image/video frame based on the one or more target locations; and
- computing geographic coordinates of the geometric figure for being marked from x,y display coordinates corresponding to the fitted position of said geometric figure on the georeferenced and ortho-rectified image/video frame.
In one or more embodiments, the program code, when executed, further causes the one or more processors to perform the step of:
- making the geographic coordinates of the geometric figure for being marked available for a mobile paint marking machine.
In one or more embodiments, the program code, when executed, further causes the one or more processors to perform the step of:
- scaling and depicting the geometric figure on the georeferenced and ortho-rectified image/video frame in accordance with the scale of the georeferenced and ortho-rectified image/video frame.
It should be noted that embodiments and features described in the context of one of the aspects of the present invention also apply to the other aspects of the invention.
Brief description of the figures
Figure 1 shows a display of a georeferenced and ortho-rectified image of a geographical area to be pre-marked; and
Figure 2 shows a display of a georeferenced and ortho-rectified image of a geographical area to be pre-marked.
Detailed description of the invention
Figure 1 shows a display 100 of a georeferenced and ortho-rectified image of a geographical area to be pre-marked, with user-selected target locations 200 for marking, and with a computed best fit for the geometric figure (repeated stripes) 300.
Figure 2A also shows a display 100 of a georeferenced and ortho-rectified image of a geographical area to be pre-marked, with user-selected target locations 200 for marking. Figure 2B shows the result of a random curve fitting operation, and Figure 2C shows the result of a curve fitting operation, where the user has pre-selected a geometric figure for being marked in the form of a circular arc. It is evident from Figure 2, that the pre-selection of a geometric figure results in a more precise road marking.
References
100 Display of a georeferenced and ortho-rectified image
200 User-selected target locations
300 Geometric figure
Claims
1 . A computer implemented method for interactively providing waypoints for use in the marking of a surface structure comprising the steps of:
i) displaying one or more georeferenced and ortho-rectified image/video frames of a geographical area to be pre-marked/marked/remarked;
ii) upon selection of a control accepting manual selection by a user of one or more target locations for marking, and a geometric figure for being marked, computing the best fit for the geometric figure on the
georeferenced and ortho-rectified image/video frame based on the one or more target locations; wherein the manual selection of the one or more target locations for performing a marking is made directly on the
georeferenced and ortho-rectified image/video frame at one or more particular points on said georeferenced and ortho-rectified image/video frame; and
iii) computing geographic coordinates of the geometric figure for being marked from x,y display coordinates corresponding to the fitted position of said geometric figure on the georeferenced and ortho-rectified image/video frame.
2. A computer implemented method according to claim 1 , wherein the geometric figure comprises a straight element, a clothoid spiral section, and a circular arc; wherein the step of computing the best fit for the geometric figure on the ortho-rectified image/video frame is based on a plurality of target locations, and wherein the best fit operation comprises the step of fitting the straight element, the clothoid spiral section, and the curved element in relation to one another based on said plurality of target locations.
3. A computer implemented method according to any one of the claims 1 -2, further comprising the step of:
iv) making the geographic coordinates of the geometric figure for being marked available for a mobile paint marking machine.
4. A computer implemented method according to any one of the claims 1 -3, wherein the one or more target locations are selected by dragging and dropping the selected geometric figure thereto.
5. A computer implemented method according to any one of the claims 1 -4, wherein the geometric figure is scaled and depicted in accordance with the scale of the georeferenced and ortho-rectified image/video frame.
6. A computer implemented method according to any one of the claims 1 -5, wherein the computed geographic coordinates of the geometric figure for being marked includes predefined reference points defining specific positions on said geometric figure, such as a center point or midline.
7. A computer implemented method according to any one of the claims 1 -6, wherein the one or more georeferenced and ortho-rectified image/video frames of a geographical area includes a previously marked geometric figure, and wherein the user selects one or more target locations for marking at x,y display coordinates corresponding to a position within the area covered by said previously marked geometric figure.
8. An apparatus for interactively providing waypoints for use in the method of any one of the claims 1 -7, the apparatus comprising:
a processor; and
a memory coupled to the processor, wherein the memory comprises program instructions implementing a graphical user interface for
interactively selecting one or more target locations for marking, and a geometric figure for being marked, wherein the program instructions are executable by the processor for:
- displaying georeferenced and ortho-rectified image/video frames of a geographical area to be pre-marked/marked/remarked;
- processing a user input routine that processes selection of a control accepting manual selection by a user of one or more target locations for marking, and a geometric figure for being marked; wherein the manual selection of the one or more target locations for performing a marking is made directly on the georeferenced and ortho-rectified image/video frame at one or more particular points on said georeferenced and ortho-rectified image/video frame;
- computing the best fit for the geometric figure on the georeferenced and ortho-rectified image/video frame based on the one or more target locations; and
- computing geographic coordinates of the geometric figure for being marked from x,y display coordinates corresponding to the fitted position of said geometric figure on the georeferenced and ortho-rectified image/video frame.
9. An apparatus according to claim 8, wherein when the geometric figure comprises a straight element, a clothoid spiral section, and a circular arc; the step of computing the best fit for the geometric figure on the ortho- rectified image/video frame is based on a plurality of target locations, and wherein the best fit operation comprises the step of fitting the straight element, the clothoid spiral section, and the curved element in relation to one another based on said plurality of target locations.
10. An apparatus according to any one of the claims 8-9, wherein the program instructions are further executable by the processor for:
- making the geographic coordinates of the geometric figure for being marked available for a mobile paint marking machine.
1 1 . An apparatus according to any one of the claims 8-10, wherein the user
input routine that processes selection of a control accepting manual selection by a user of one or more target locations for marking is performed by dragging and dropping the selected geometric figure thereto.
12. An apparatus according to any one of the claims 8-1 1 , wherein the program instructions are further executable by the processor for:
- scaling and depicting the geometric figure in accordance with the scale of the georeferenced and ortho-rectified image/video frame.
13. An apparatus according to any one of the claims 8-12, wherein the computed geographic coordinates of the geometric figure for being marked includes predefined reference points defining specific positions on said geometric figure, such as a center point or midline.
14. A computer program product, for use in the method of any one of the claims 1 -7, the computer program product comprising a readable memory device having computer readable program code stored thereon, including program code which, when executed, causes one or more processors to perform the steps of:
- displaying georeferenced and ortho-rectified image/video frames of a geographical area to be pre-marked/marked/remarked;
- processing a user input routine that processes selection of a control accepting manual selection by a user of one or more target locations for marking, and a two-dimensional geometric figure for being marked; wherein the manual selection of the one or more target locations for performing a marking is made directly on the georeferenced and ortho-rectified image/video frame at one or more particular points on said georeferenced and ortho-rectified image/video frame;
- computing the best fit for the geometric figure on the georeferenced and ortho-rectified image/video frame based on the one or more target locations; and
- computing geographic coordinates of the geometric figure for being marked from x,y display coordinates corresponding to the fitted position of said geometric figure on the georeferenced and ortho-rectified image/video frame.
15. A computer program product according to claim 14, wherein when the geometric figure comprises a straight element, a clothoid spiral section, and a circular arc; the step of computing the best fit for the geometric figure on the ortho-rectified image/video frame is based on a plurality of target locations, and wherein the best fit operation comprises the step of fitting the straight element, the clothoid spiral section, and the curved element in relation to one another based on said plurality of target locations.
1 6. A computer program product according to any one of the claims 14-15, wherein the program code, when executed, further causes the one or more processors to perform the step of:
- making the geographic coordinates of the geometric figure for being marked available for a mobile paint marking machine.
17. A computer program product according to any one of the claims 14-1 6, wherein the program code, when executed, further causes the one or more processors to perform the step of:
- scaling and depicting the geometric figure on the georeferenced and ortho-rectified image/video frame in accordance with the scale of the georeferenced and ortho-rectified image/video frame.
18. A computer program product according to any one of the claims 14-17, wherein the computed geographic coordinates of the geometric figure for being marked includes predefined reference points defining specific positions on said geometric figure, such as a center point or midline.
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| DKPA201500841 | 2015-12-23 | ||
| DKPA201500841 | 2015-12-23 |
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| WO2017109066A1 true WO2017109066A1 (en) | 2017-06-29 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022167228A1 (en) * | 2021-02-02 | 2022-08-11 | Tinymobilerobots Aps | A method for interactively providing waypoints to a mobile robot for use in the marking of a geometric figure on a ground surface |
| CN115097786A (en) * | 2022-08-26 | 2022-09-23 | 济南邦德激光股份有限公司 | Processing track optimization method and equipment based on convolution line and storage medium |
| WO2022207451A1 (en) * | 2021-03-29 | 2022-10-06 | Tinymobilerobots Aps | Sports field with automatic line marking |
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| WO2022167228A1 (en) * | 2021-02-02 | 2022-08-11 | Tinymobilerobots Aps | A method for interactively providing waypoints to a mobile robot for use in the marking of a geometric figure on a ground surface |
| WO2022207451A1 (en) * | 2021-03-29 | 2022-10-06 | Tinymobilerobots Aps | Sports field with automatic line marking |
| CN115097786A (en) * | 2022-08-26 | 2022-09-23 | 济南邦德激光股份有限公司 | Processing track optimization method and equipment based on convolution line and storage medium |
| CN115097786B (en) * | 2022-08-26 | 2022-12-02 | 济南邦德激光股份有限公司 | Processing track optimization method and equipment based on convolution line and storage medium |
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