Location And Motion Estimation Using Ground Imaging Sensor
First Claim
1. A method for estimating a location comprising:
- obtaining an image of a ground surface;
extracting a first set of features from said image;
searching a map database for a second set of features that match said first set of features;
retrieving a geo-location from said map database, wherein said geo-location is associated with said second set of features; and
estimating said location based on said retrieved geo-location.
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Abstract
A system and method for estimating location and motion of an object. An image of a ground surface is obtained and a first set of features is extracted from the image. A map database is searched for a second set of features that match the first set of features and a geo-location is retrieved from the map database, wherein the geo-location is associated with the second set of features. The location is estimated based on the retrieved geo-location. The motion of the object, such as distance travelled, path travelled and/or speed may be estimated in a similar manner by comparing the location of extracted features that are present in two or more images over a selected time period.
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Citations
23 Claims
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1. A method for estimating a location comprising:
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obtaining an image of a ground surface; extracting a first set of features from said image; searching a map database for a second set of features that match said first set of features; retrieving a geo-location from said map database, wherein said geo-location is associated with said second set of features; and estimating said location based on said retrieved geo-location. - View Dependent Claims (2, 3, 4)
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5. A method for estimating a location comprising:
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obtaining images of ground surfaces; associating a geo-location with each of said images; extracting features from said images; storing said features and said associated geo-locations in a map database; retrieving said features and said associated geo-locations from said map database in response to queries; and estimating a location from said features and said associated geo-locations. - View Dependent Claims (6, 7, 8)
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9. A method for estimating motion comprising:
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obtaining a first image of a ground surface; extracting a first set of features from said first image; obtaining a second image of a ground surface, wherein a portion of said second image overlaps said first image; extracting a second set of features from said second image; identifying one or more common features, wherein said common features are present in said first and said second set of features; and estimating motion from a difference between the location of said common features in said first image and said second image. - View Dependent Claims (10, 11, 12)
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13. A system for estimating a location comprising:
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an imaging sensor configured to obtain an image of a ground surface; a processing module configured to extract a first set of features from said image; and a map database configured to store a plurality of sets of features and associated geo-locations, wherein said processing module is further configured to search said map database for a second set of features that match said first set of features and retrieve a geo-location associated with said second set of features such that said location is estimated based on said retrieved geo-location. - View Dependent Claims (14, 15, 16, 17, 18)
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19. A system for estimating motion comprising:
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an imaging sensor configured to obtain a first and second image of a ground surface, wherein a portion of said second image overlaps said first image; a processing module configured to extract a first set of features from said first image and a second set of features from said second image and identify one or more common features, wherein said common features are present in said first and said second set of features; and a motion estimation module configured to estimate said motion based on a difference between the location of said common features in said first image and said second image. - View Dependent Claims (20, 21, 22, 23)
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Specification