2D VEHICLE LOCALIZING USING GEOARCS
First Claim
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.
1 Assignment
0 Petitions
Accused Products
Abstract
Examples include methods, systems, and articles for localizing a vehicle relative to an imaged surface configuration. Localizing the vehicle may include selecting pairs of features in an image acquired from a sensor supported by the vehicle having corresponding identified pairs of features in a reference representation of the surface configuration. A three-dimensional geoarc may be generated based on an angle of view of the sensor and the selected feature pair in the reference representation. In some examples, a selected portion of the geoarc disposed a known distance of the vehicle away from the portion of the physical surface configuration may be determined. Locations where the selected portions of geoarcs for selected feature pairs overlap may be identified. In some examples, the reference representation may be defined in a three-dimensional space of volume elements (voxels), and voxels that are included in the highest number of geoarcs may be determined.
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Citations
20 Claims
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1. A method for spatial localization comprising:
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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, and determining 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A vehicle comprising:
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a sensor configured to produce an image of a portion of a physical surface configuration from a position spaced away from the portion of the physical surface configuration by a known distance; and a data processing system communicatively coupled to the sensor, the data processing system configured to; store a reference representation of the portion of the physical surface configuration and features identified in the reference representation, identify features in the acquired image; associate identified features in the acquired image with identified features in the reference representation, select a plurality of pairs of features in the acquired image having corresponding identified pairs of features in the reference representation, and for each selected feature pair in the acquired image, determine an angle of view between the pair of features from the sensor, generate a three-dimensional geoarc associating the determined angle of view and the selected feature pair in the reference representation, and determine a selected portion of the geoarc disposed the known distance away from the portion of the physical surface configuration; and identify locations where the selected portions of the geoarcs for the selected feature pairs overlap. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A computer program product, comprising:
at least one computer readable storage medium having computer readable program instructions embodied therewith, the computer readable program instructions, when executed by a processor, configuring the processor to; store a reference representation of the portion of the physical surface configuration and features identified in the reference representation; receive and store an image produced by a sensor supported by a vehicle of a portion of a physical surface configuration from a position spaced away from the physical surface configuration by a known distance; identify features in the received image; associate identified features in the acquired image with identified features in the reference representation, select a plurality of pairs of features in the received image having corresponding identified pairs of features in the reference representation, for each selected feature pair in the received image, determine an angle of view between the pair of features from the sensor, generate a three-dimensional geoarc associating the determined angle of view and the selected feature pair in the reference representation, and determine a selected portion of the geoarc disposed the known distance away from the portion of the physical surface configuration; and identify locations where the selected portions of the geoarcs for the selected feature pairs overlap. - View Dependent Claims (18, 19, 20)
Specification