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MX2019002985A - Metodo de estimacion de la posicion propia y dispositivo de estimacion de la posicion propia. - Google Patents

Metodo de estimacion de la posicion propia y dispositivo de estimacion de la posicion propia.

Info

Publication number
MX2019002985A
MX2019002985A MX2019002985A MX2019002985A MX2019002985A MX 2019002985 A MX2019002985 A MX 2019002985A MX 2019002985 A MX2019002985 A MX 2019002985A MX 2019002985 A MX2019002985 A MX 2019002985A MX 2019002985 A MX2019002985 A MX 2019002985A
Authority
MX
Mexico
Prior art keywords
self
position estimation
moving object
target
position data
Prior art date
Application number
MX2019002985A
Other languages
English (en)
Other versions
MX394154B (es
Inventor
Tsuchiya Chikao
Nanri Takuya
SANO Yasuhito
Takano Hiroyuki
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 MX2019002985A publication Critical patent/MX2019002985A/es
Publication of MX394154B publication Critical patent/MX394154B/es

Links

Classifications

    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/644—Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
    • 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
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G06T2207/30256—Lane; Road marking
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Optics & Photonics (AREA)

Abstract

Un método de estimación de la posición propia incluye: detectar una posición relativa entre un objetivo presente en los alrededores de un objeto en movimiento y el objeto en movimiento; almacenar una posición donde la posición relativa se mueve por la cantidad movida del objeto en movimiento, como datos de posición de objetivo; seleccionar los datos de posición de objetivo con base en la fiabilidad de la posición relativa de los datos de posición de objetivo con respecto al objeto en movimiento; y comparar los datos de posición de objetivo seleccionados con la información de mapa que incluye la información de posición sobre el objetivo presente en un camino o alrededor del camino, estimando por consiguiente una posición propia que es una posición actual del objeto en movimiento.
MX2019002985A 2016-09-27 2016-09-27 Metodo de estimacion de la posicion propia y dispositivo de estimacion de la posicion propia. MX394154B (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/078428 WO2018061084A1 (ja) 2016-09-27 2016-09-27 自己位置推定方法及び自己位置推定装置

Publications (2)

Publication Number Publication Date
MX2019002985A true MX2019002985A (es) 2019-07-04
MX394154B MX394154B (es) 2025-03-24

Family

ID=61759367

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2019002985A MX394154B (es) 2016-09-27 2016-09-27 Metodo de estimacion de la posicion propia y dispositivo de estimacion de la posicion propia.

Country Status (10)

Country Link
US (1) US11321572B2 (es)
EP (1) EP3521962B1 (es)
JP (1) JP6881464B2 (es)
KR (1) KR20190045220A (es)
CN (1) CN109791408B (es)
BR (1) BR112019006057B1 (es)
CA (1) CA3038643A1 (es)
MX (1) MX394154B (es)
RU (1) RU2720140C1 (es)
WO (1) WO2018061084A1 (es)

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US10467903B1 (en) 2018-05-11 2019-11-05 Arnold Chase Passive infra-red pedestrian detection and avoidance system
US10750953B1 (en) 2018-05-11 2020-08-25 Arnold Chase Automatic fever detection system and method
US11294380B2 (en) 2018-05-11 2022-04-05 Arnold Chase Passive infra-red guidance system
US11062608B2 (en) 2018-05-11 2021-07-13 Arnold Chase Passive infra-red pedestrian and animal detection and avoidance system
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Also Published As

Publication number Publication date
EP3521962B1 (en) 2021-07-21
EP3521962A4 (en) 2019-08-07
US11321572B2 (en) 2022-05-03
US20200019792A1 (en) 2020-01-16
RU2720140C1 (ru) 2020-04-24
CN109791408A (zh) 2019-05-21
CN109791408B (zh) 2022-04-26
EP3521962A1 (en) 2019-08-07
BR112019006057A2 (pt) 2019-06-18
MX394154B (es) 2025-03-24
BR112019006057B1 (pt) 2022-12-06
KR20190045220A (ko) 2019-05-02
WO2018061084A1 (ja) 2018-04-05
CA3038643A1 (en) 2018-04-05
JP6881464B2 (ja) 2021-06-02
JPWO2018061084A1 (ja) 2019-07-04

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