System and method for map and position-determination enhancement

• US 7,650,013 B2
• Filed: 11/15/2005
• Issued: 01/19/2010
• Est. Priority Date: 11/15/2004
• Status: Active Grant

• Current Assignee: Omron Corporation
• Original Assignee: MobileRobots, Inc. (Omron Corporation)
• Inventors: Dietsch, Jeanne, LaFary, Matthew
• Primary Examiner(s): AZARIAN, SEYED H
• Application Number:
  US11/274,562
• Publication Number:
  US 20060120601A1
• Time in Patent Office: 1,526 Days
• Field of Search: 382/100, 382/103, 382/106, 382/107, 382/110, 382/118, 382/153, 382/162, 382/168, 382/181, 382/209, 382/232, 382/260, 382/274, 382/276, 382/286, 382291-295, 382/305, 382/312, 717/104, 701/28, 701/207, 345/158
• US Class Current: 382/103
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59

Abstract

A system and methods for map and position determination enhancement. The method includes obtaining at least one image of a view in an area. Also, identifying at least one high-contrast feature in the image of the area and, embedding the high-contrast feature in a map of the area. The result is the generation of an enhanced map of the area which can be used to determine the position of any device or object.

Claims

1. A method for generating an enhanced map comprising:

obtaining at least one image of a view in an area from an upward facing fisheye camera imaging device;

identifying at least one high-contrast feature in the image;

providing non-visible light radiation to the area whereby the radiation creates the at least one high-contrast feature in the image;

processing the location of the upward facing fisheye camera based from a plurality of sensors including the upward facing fisheye camera;

adjusting the location of the upward facing fisheye camera on a map of the area based on the sensor data; and

generating an enhanced map of the area by embedding the high-contrast feature in the map of the area whereby the enhanced map is used to determine position of the imaging device.

2. The method of claim 1 wherein said at least one high-contrast feature is at least one ceiling light in said area.

3. A method for generating an enhanced position-determination of a spatial data collection device comprising:

providing radiation to the area whereby the radiation creates at least one high-contrast feature in the image;

identifying the at least one high-contrast feature in a view using the spatial data collection device having an imaging device that need not see a horizon line;

calculating center point coordinates of the at least one high-contrast feature;

comparing the center point coordinates from at least two known points of view; and

determining actual location of the spatial data collection device based on results of the comparing wherein the spatial data collection device determines the spatial data collection device location.

4. The method of claim 3 further comprising generating a map of said area.

5. The method of claim 3 wherein said at least one high-contrast feature is at least one ceiling light in said area.

6. A method for generating an enhanced map comprising:

obtaining at least one image of a view of an area using a spatial data collection device;

identifying at least one high-contrast feature in said image;

determining distance of said at least one high-contrast feature from said spatial data collection device;

generating a spatial database of said view and said at least one high-contrast feature;

embedding said high-contrast feature in a previously prepared spatial database of said area of said view; and

generating an enhanced map of said area whereby the enhanced map is used to determine position of said device.

7. The method of claim 6 further comprising providing radiation to said area whereby said radiation creates said at least one high-contrast feature in said image.

8. The method of claim 6 further comprising generating a map of said area.

9. The method of claim 6 wherein said at least one high-contrast feature is at least one ceiling light in said area.

10. A method for generating an enhanced map comprising:

generating a map of an area;

obtaining at least one view of said area from a predetermined position;

identifying at least one high-contrast image in said view from an upward facing imaging device that need not see a horizon line;

processing the location of the upward facing imaging device based from a plurality of sensors including the upward facing imaging device;

adjusting the location of the upward facing imaging device on the map of the area based on the sensor data; and

generating an enhanced map of said view by embedding the high-contrast feature in a map of the area whereby the enhanced map is used to determine position of the imaging device.

11. The method of claim 10 further comprising providing radiation to said area whereby said radiation creates said at least one high-contrast feature in said image.

12. The method of claim 10 wherein said at least one high-contrast feature is at least one ceiling light in said area.

13. A method for generating an enhanced map comprising:

obtaining at least one view of an area from a spatial data collection device at a predetermined position;

providing radiation to the area whereby the radiation creates at least one high-contrast feature in the image;

identifying the at least one high-contrast image in the view from an upward facing imaging device;

processing the location of the upward facing imaging device based from a plurality of sensors including the upward facing imaging device;

adjusting the location of the upward facing imaging device on a map of the area based on the sensor data; and

generating an enhanced map of the area by embedding the high-contrast feature in a map of the area whereby the enhanced map is used to determine position of the imaging device.

14. The method of claim 13 wherein the radiation generation is integrated onto the spatial data collection device.

15. A system for generating an enhanced map comprising:

a spatial data collection device;

a camera integrated onto said spatial data collection device, said camera facing upward and not needing to see a horizon line;

means for determining position of said spatial data collection device;

means for determining presence and position of at least one high-contrast feature in a view of an area;

means for storing position data of said at least one high-contrast feature;

means for calculating position of said at least one high-contrast features'"'"' center point;

means for determining if features are located differently than expected;

means for adjusting the spatial data collection device on a map based on calculations given the data on features and spatial data; and

means for generating an enhanced map of an area using said position data and previously created map.

16. The system of claim 15 further comprising means for generating radiation, said means for generating radiation integrated onto said spatial data collection device, whereby said means for generating radiation produces at least one high-contrast feature in said view of said area.

17. A system for generating an enhanced map comprising:

a spatial data collection device;

a camera integrated onto said spatial data collection device, said camera facing upward and not needing to see a horizon line;

means for determining position of said spatial data collection device;

means for determining presence and position of at least one high-contrast feature in a view of an area;

a means for generating radiation integrated onto said spatial data collection device, said means for generating radiation producing at least one high-contrast feature in said view of said area;

means for storing position data of said at least one high-contrast feature;

means for calculating position of said at least one high-contrast features'"'"' center point; and

means for generating an enhanced map of an area using said position data and previously created map.