Method of Augmenting GPS or GPS/Sensor Vehicle Positioning Using Additional In-Vehicle Vision Sensors
First Claim
1. A method of augmenting GPS data using an in-vehicle vision-based module, the method comprising:
- determining a vehicle position utilizing position-related data obtained from a position module;
estimating a position error on a periodic basis determining whether the position error estimate exceeds a first predetermined error threshold;
generating tracking data for the vehicle over a course of travel utilizing captured images from the in-vehicle vision based module;
integrating the tracking data with the position-related data to estimate the vehicle position in response to the position error estimate exceeding the first predetermined error threshold;
determining whether the position error estimate decreases below a second predetermined error threshold; and
re-determining the vehicle position using only the position-related data when the position error estimate decreases below the second predetermined error threshold.
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Abstract
A method is provided for augmenting GPS data using an in-vehicle vision-based module. A vehicle position is determined utilizing position-related data obtained from a position module. A position error is estimated on a periodic basis. A determination is made whether the position error estimate exceeds a first predetermined error threshold. Tracking data is generated for the vehicle over a course of travel utilizing captured images from the in-vehicle vision based module. The tracking data is integrated with the position-related data to estimate the vehicle position in response to the position error estimate exceeding the first predetermined error threshold. A determination is made whether the position error estimate decreases below a second predetermined error threshold. The vehicle position is re-determined using only the position-related data when the position error estimate decreases below the second predetermined error threshold.
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Citations
23 Claims
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1. A method of augmenting GPS data using an in-vehicle vision-based module, the method comprising:
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determining a vehicle position utilizing position-related data obtained from a position module; estimating a position error on a periodic basis determining whether the position error estimate exceeds a first predetermined error threshold; generating tracking data for the vehicle over a course of travel utilizing captured images from the in-vehicle vision based module; integrating the tracking data with the position-related data to estimate the vehicle position in response to the position error estimate exceeding the first predetermined error threshold; determining whether the position error estimate decreases below a second predetermined error threshold; and re-determining the vehicle position using only the position-related data when the position error estimate decreases below the second predetermined error threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. An augmented vehicle positioning system comprising:
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a vehicle-position module for determining a vehicle position of a vehicle utilizing position-related data, the vehicle position module further determining a position error estimate that provides a confidence level of an accuracy of the vehicle position; and an in-vehicle vision based module for capturing images over a path of travel of the vehicle for generating tracking data; wherein a determination is made whether the position error estimation exceeds a first predetermined error threshold, wherein the tracking data is integrated with the position-related data to estimate a current vehicle position when the position error exceeds the first predetermined error, and wherein the current vehicle position is re-determined using only the position-related data when the position error estimate is less than a second predetermined error threshold. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23)
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Specification