Method and system for autonomous vehicle navigation
First Claim
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1. A method for autonomous vehicle navigation, the method comprising:
- providing one or more Global Positioning System (GPS) sensors, one or more inertial sensors, and one or more image sensors on an autonomous vehicle;
obtaining one or more GPS measurements, one or more inertial measurements, and one or more image measurements from the respective GPS sensors, inertial sensors, and image sensors during operation of the autonomous vehicle;
integrating together each of the GPS measurements, inertial measurements, and image measurements; and
estimating a position of the autonomous vehicle over time based on the integration.
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Abstract
A method and system are provided for autonomous vehicle navigation. In the method and system, one or more Global Positioning System (GPS) sensors, one or more inertial sensors, and one or more image sensors are provided on an autonomous vehicle. During operation of the autonomous vehicle, one or more GPS measurements, one or more inertial measurements, and one or more image measurements are obtained from the respective GPS sensors, inertial sensors, and image sensors. Each of the GPS measurements, inertial measurements, and image measurements are integrated together to estimate a position of the autonomous vehicle over time.
43 Citations
20 Claims
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1. A method for autonomous vehicle navigation, the method comprising:
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providing one or more Global Positioning System (GPS) sensors, one or more inertial sensors, and one or more image sensors on an autonomous vehicle; obtaining one or more GPS measurements, one or more inertial measurements, and one or more image measurements from the respective GPS sensors, inertial sensors, and image sensors during operation of the autonomous vehicle; integrating together each of the GPS measurements, inertial measurements, and image measurements; and estimating a position of the autonomous vehicle over time based on the integration. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for autonomous vehicle navigation, comprising:
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one or more Global Positioning System (GPS) sensors operatively connected to an autonomous vehicle for obtaining GPS measurements; one or more inertial sensors operatively connected to the autonomous vehicle for obtaining inertial measurements; one or more image sensors operatively connected to the autonomous vehicle for obtaining image measurements; and a processor configured to execute program code for a method comprising; performing a deep integration of the GPS measurements, inertial measurements, and image measurements; and estimating a position of the autonomous vehicle over time based on the deep integration. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A computer readable medium having instructions stored thereon executable by a processor to implement a method for autonomous vehicle navigation, the method comprising:
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obtaining one or more GPS measurements, one or more inertial measurements, and one or more image measurements for an autonomous vehicle; performing a deep integration of the GPS measurements, inertial measurements, and image measurements; and estimating a position of the autonomous vehicle over time based on the deep integration.
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Specification