VEHICLE LOCALIZATION
First Claim
1. A computerized method of localizing a transportable apparatus within an environment around the apparatus, comprising:
- obtaining a sequence of images of the environment;
generating one or more sequences of transformed images from the sequence of images wherein an image from the sequence of images has undergone a transformation to provide a transformed image within the sequence of transformed images;
using processing circuitry to compare one or more images from the sequence of transformed images and one or more images from at least one of;
the sequence of images;
orfurther sequences of transformed images against a representation of the environment;
wherein the comparison determines corresponding features within the images and/or transformed images and the representation; and
localizing the transportable apparatus according to a position of the one or more corresponding features.
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Abstract
A method of localising a transportable apparatus (102) within an environment around the apparatus is disclosed. The method comprises obtaining a sequence of images (200) of the environment and generating one or more sequences of transformed images (204) from the sequence of images wherein an image from the sequence of images has undergone a transformation to provide a transformed image within the sequence of transformed images. Processing circuitry (112) is then used to compare one or more images from the sequence of transformed images (204) and one or more images from at least one of the sequence of images (200) and a further sequence of transformed images against a representation of the environment. The comparison determines corresponding features within the images (200) and/or transformed images (204) and the representation. The transportable apparatus (102) is then localised according to a position of the one or more corresponding features.
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Citations
18 Claims
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1. A computerized method of localizing a transportable apparatus within an environment around the apparatus, comprising:
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obtaining a sequence of images of the environment; generating one or more sequences of transformed images from the sequence of images wherein an image from the sequence of images has undergone a transformation to provide a transformed image within the sequence of transformed images; using processing circuitry to compare one or more images from the sequence of transformed images and one or more images from at least one of; the sequence of images;
orfurther sequences of transformed images against a representation of the environment; wherein the comparison determines corresponding features within the images and/or transformed images and the representation; and localizing the transportable apparatus according to a position of the one or more corresponding features. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 18)
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11. An apparatus arranged to perform a localization of itself within an environment, the apparatus comprising:
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a sensor configured to generate a sequence of images of an environment around the apparatus; processing circuitry in communication with the sensor, the processing circuitry configured to; generate one or more sequences of transformed images from the sequence of images, wherein an image from the sequence of images has undergone a transformation to provide a transformed image within the sequence of transformed images; compare, against a stored representation of the environment, one or more images from the sequence of transformed images and one or more images from at least one of;
the sequence of images; and
a further sequences of transformed images;determine, during the comparison, corresponding features within the images and/or the transformed images and the stored representation; and localize the apparatus according to the position of the one or more corresponding features.
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12. A non-transitory machine readable medium containing instructions, which when read by a computer, cause that computer to:
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obtain a sequence of images of an environment around the apparatus; generate one or more sequences of transformed images from the sequence of images wherein an image from the sequence of images has undergone a transformation to provide a transformed image within the sequence of transformed images; compare one or more images from the sequence of transformed images and one or more images from at least one of; the sequence of images; and further sequences of transformed images against a stored representation of the environment; wherein the comparison is arranged to determine corresponding features within the images and/or transformed images and the stored representation; and localize the transportable apparatus according to a position of the one or more corresponding features.
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13. (canceled)
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14. (canceled)
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15. (canceled)
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16. (canceled)
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17. (canceled)
Specification