LOCALISING A VEHICLE ALONG A ROUTE

• US 20140249752A1
• Filed: 09/27/2012
• Published: 09/04/2014
• Est. Priority Date: 09/30/2011
• Status: Active Grant

• Current Assignee: Chancellor Masters & Scholars of The University of Cambridge (University of Cambridge)
• Original Assignee: Chancellor Masters & Scholars of The University of Cambridge (University of Cambridge)
• Inventors: Newman, Paul Michael, Napier, Ashley Alan
• Granted Patent: US 9,464,894 B2
• Time in Patent Office: Days
• US Class Current: 701/523
• CPC Class Codes: G01C 11/12 the pictures being supported in the same relative position as when they were taken
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G06T 7/248 involving reference images or patches

Abstract

A method and apparatus are disclosed for localizing a vehicle along a route. The method comprises initially surveying the route to be traversed by the vehicle by creating a plurality of orthographic images of the route, at a plurality of locations along the route and subsequently passing the vehicle along the route while obtaining a current view of the route. The method further comprises resolving a pose of the vehicle relative to a survey trajectory by maximising a relation between the orthographic images and the current view.

Claims

1. A method for localizing a vehicle along a route, the method comprising:

surveying the route to be traversed by the vehicle by creating a plurality of orthographic images of the route, at a plurality of locations along the route;

subsequently passing the vehicle along the route while obtaining a current view of the route; and

resolving a pose of the vehicle relative to a survey trajectory by maximising a relation between the orthographic images and the current view.

2. A method according to claim 1, wherein creating a plurality of orthographic images of the route comprises creating a continuous, overhead image of the route.

3. A method according to claim 1, wherein creating a plurality of orthographic images comprises creating a continuous overhead image strip of the route.

4. A method according to claim 1, wherein the relation between the orthographic images and the current view comprises a comparison of mutual information between the orthographic images and the current view.

5. A method according to claim 1, wherein the orthographic images are represented relative to a survey vehicle trajectory.

6. A method according to claim 1, wherein the orthographic images created during the survey are obtained with a stereo camera, mounted on a survey vehicle.

7. A method according to claim 6, wherein the stereo camera comprises at least a first and second imaging portion and the first imaging portion is arranged to image at least a portion of a route track and at least a portion of a route environment.

8. A method according to claim 7, wherein the second imaging portion is preferably arranged to image only the route track.

9. Apparatus for localizing a vehicle along a route, the apparatus comprising:

a camera for obtaining images of the route as the vehicle traverses the route;

a repository of orthographic images of the route, obtained during a survey of the route; and

a processor for resolving a pose of the vehicle along the route by processing images obtained with the camera, with the orthographic images of the route.

10. Apparatus according to claim 9, wherein the camera comprises a stereo camera.

11. A vehicle comprising the apparatus according to claim 9.

12. A non-transient computer program product comprising computer code that when executed by one or more processors causes a process for localizing a vehicle along a route to be carried out, the process comprising:

surveying the route to be traversed by the vehicle by creating a plurality of orthographic images of the route, at a plurality of locations along the route;

subsequently passing the vehicle along the route while obtaining a current view of the route; and

resolving a pose of the vehicle relative to a survey trajectory by maximising a relation between the orthographic images and the current view.

13. A computer program product according to claim 12, wherein creating a plurality of orthographic images of the route comprises creating a continuous, overhead image of the route.

14. A computer program product according to claim 12, wherein creating a plurality of orthographic images comprises creating a continuous overhead image strip of the route.

15. A computer program product according to claim 12, wherein the relation between the orthographic images and the current view comprises a comparison of mutual information between the orthographic images and the current view.

16. A computer program product according to claim 12, wherein the orthographic images are represented relative to a survey vehicle trajectory.

17. A computer program product according to claim 12, wherein the orthographic images created during the survey are obtained with a stereo camera, mounted on a survey vehicle.

18. A computer program product according to claim 17, wherein the stereo camera comprises at least a first and second imaging portion and the first imaging portion is arranged to image at least a portion of a route track and at least a portion of a route environment.

19. A computer program product according to claim 18, wherein the second imaging portion is preferably arranged to image only the route track.

20. A vehicle comprising the computer program product according to claim 12.