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2D VEHICLE LOCALIZING USING GEOARCS

  • US 20180061055A1
  • Filed: 08/30/2016
  • Published: 03/01/2018
  • Est. Priority Date: 08/30/2016
  • Status: Active Grant
First Claim
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1. A method for spatial localization comprising:

  • acquiring from a sensor supported by a vehicle an image of a portion of a physical surface configuration from a position spaced away from the physical surface configuration by a known distance;

    identifying features in the acquired image;

    associating identified features in the acquired image with identified features in a reference representation of the portion of the physical surface configuration;

    selecting a plurality of pairs of features in the acquired image having corresponding identified pairs of features in the reference representation;

    for each selected feature pair in the acquired image,determining an angle of view between the pair of features from the sensor,generating a three-dimensional geoarc associating the determined angle of view and the selected feature pair in the reference representation, anddetermining a selected portion of the geoarc disposed the known distance away from the portion of the physical surface configuration; and

    identifying locations where the selected portions of the geoarcs for the selected feature pairs overlap.

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