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MX2017001248A - Aparato de calculo de la posicion propia y metodo de calculo de la posicion propia. - Google Patents

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

Info

Publication number
MX2017001248A
MX2017001248A MX2017001248A MX2017001248A MX2017001248A MX 2017001248 A MX2017001248 A MX 2017001248A MX 2017001248 A MX2017001248 A MX 2017001248A MX 2017001248 A MX2017001248 A MX 2017001248A MX 2017001248 A MX2017001248 A MX 2017001248A
Authority
MX
Mexico
Prior art keywords
patterned light
vehicle
image
attitude
road surface
Prior art date
Application number
MX2017001248A
Other languages
English (en)
Other versions
MX357830B (es
Inventor
Yamaguchi Ichiro
Nishiuchi Hidekazu
Hiraizumi Norihisa
Matsumoto Jun
Original Assignee
Nissan Motor
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nissan Motor filed Critical Nissan Motor
Publication of MX2017001248A publication Critical patent/MX2017001248A/es
Publication of MX357830B publication Critical patent/MX357830B/es

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06T2207/30208—Marker matrix
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Automation & Control Theory (AREA)
  • Signal Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)

Abstract

Se proporciona un aparato de cálculo de la posición propia capaz de detectar de manera precisa un haz de luz en patrón proyectado sobre una superficie del camino, y capaz de calcular de manera precisa la posición propia de un vehículo. El aparato de cálculo de la posición propia incluye: un proyector (11) de luz configurado para proyectar el haz de luz en patrón sobre la superficie del camino alrededor de un vehículo; una unidad (12) de captura de imágenes configurada para capturar una imagen de un área sobre la cual se proyecta el haz de luz en patrón; un extractor (21) del haz de luz en patrón configurado para extraer una posición del haz de luz en patrón a partir de la imagen; un calculador (22) del ángulo de orientación configurado para calcular un ángulo de orientación del vehículo con relación a la superficie del camino a partir de la posición del haz de luz en patrón; un calculador (24) de la cantidad de cambio de la orientación configurado para calcular una cantidad de cambio en la orientación del vehículo con base en los cambios temporales en múltiples puntos de características en la superficie del camino en la imagen; y un calculador (26) de la posición propia configurado para calcular una posición actual y un ángulo de orientación actual del vehículo sumando la cantidad de cambio en la orientación a una posición inicial y un ángulo de orientación inicial del vehículo. Si una condición detectada del haz de luz en patrón es igual a o mayor que un valor de umbral, el extractor (21) del haz de luz en patrón extrae la posición del haz de luz en patrón a partir de una imagen superpuesta superponiendo imágenes en cuadros que se obtienen con la unidad (12) de captura de imágenes.
MX2017001248A 2014-08-04 2014-08-04 Aparato de cálculo de la posición propia y método de cálculo de la posición propia. MX357830B (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/070480 WO2016020970A1 (ja) 2014-08-04 2014-08-04 自己位置算出装置及び自己位置算出方法

Publications (2)

Publication Number Publication Date
MX2017001248A true MX2017001248A (es) 2017-05-01
MX357830B MX357830B (es) 2018-07-26

Family

ID=55263277

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2017001248A MX357830B (es) 2014-08-04 2014-08-04 Aparato de cálculo de la posición propia y método de cálculo de la posición propia.

Country Status (8)

Country Link
US (1) US9933252B2 (es)
EP (1) EP3179462B1 (es)
JP (1) JP6269838B2 (es)
CN (1) CN106663376B (es)
BR (1) BR112017002129B1 (es)
MX (1) MX357830B (es)
RU (1) RU2636235C1 (es)
WO (1) WO2016020970A1 (es)

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Also Published As

Publication number Publication date
BR112017002129B1 (pt) 2022-01-04
US20170261315A1 (en) 2017-09-14
MX357830B (es) 2018-07-26
CN106663376B (zh) 2018-04-06
US9933252B2 (en) 2018-04-03
CN106663376A (zh) 2017-05-10
EP3179462A4 (en) 2017-08-30
RU2636235C1 (ru) 2017-11-21
EP3179462A1 (en) 2017-06-14
JPWO2016020970A1 (ja) 2017-05-25
JP6269838B2 (ja) 2018-01-31
EP3179462B1 (en) 2018-10-31
WO2016020970A1 (ja) 2016-02-11
BR112017002129A2 (pt) 2017-11-21

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