Method of constructing artificial mark for autonomous driving, apparatus and method of determining position of intelligent system using artificial mark and intelligent system employing the same
First Claim
1. An intelligent system comprising:
- an image pickup unit which obtains an image taken for a driving place;
a main control unit which calculates a projective invariant of an artificial mark detected from an image taken for a driving place and analyzes the position of the intelligent system using global location information of the detected artificial mark in the driving place obtained by the calculated projective invariant and location information between the intelligent system and the detected artificial mark; and
a driving control unit which controls driving of the intelligent system according to the position information of the intelligent system analyzed in the main control unit,wherein the main control unit comprises;
a projective invariant calculator which calculates a projective invariant of the detected artificial mark;
a search unit which stores a database of indices according to a combination of colors of polygons included in the artificial mark, projective invariants of the artificial marks and global location information of the artificial marks in the driving place, and searches the database by the calculated projective invariant for obtaining the global location information of the detected artificial mark; and
a position information analyzer which analyzes the position of the intelligent system by using the global location information of the detected artificial mark and location information between the intelligent system and the detected artificial mark.
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Abstract
A method of controlling an intelligent system using an artificial mark and method for employing the same. The intelligent system includes: an image pickup unit which obtains an image taken for a driving place; a main control unit which calculates a projective invariant of an artificial mark detected from an image taken for a driving place and analyzes the position of the intelligent system using global location information of the detected artificial mark in the driving place obtained by the calculated projective invariant and location information between the intelligent system and the detected artificial mark; and a driving control unit which controls driving of the intelligent system according to the position information of the intelligent system analyzed in the main control unit.
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Citations
11 Claims
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1. An intelligent system comprising:
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an image pickup unit which obtains an image taken for a driving place; a main control unit which calculates a projective invariant of an artificial mark detected from an image taken for a driving place and analyzes the position of the intelligent system using global location information of the detected artificial mark in the driving place obtained by the calculated projective invariant and location information between the intelligent system and the detected artificial mark; and a driving control unit which controls driving of the intelligent system according to the position information of the intelligent system analyzed in the main control unit, wherein the main control unit comprises; a projective invariant calculator which calculates a projective invariant of the detected artificial mark; a search unit which stores a database of indices according to a combination of colors of polygons included in the artificial mark, projective invariants of the artificial marks and global location information of the artificial marks in the driving place, and searches the database by the calculated projective invariant for obtaining the global location information of the detected artificial mark; and a position information analyzer which analyzes the position of the intelligent system by using the global location information of the detected artificial mark and location information between the intelligent system and the detected artificial mark. - View Dependent Claims (2, 3, 4, 5)
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6. A method of controlling an intelligent system using an artificial mark comprising:
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obtaining an image taken for a driving place; calculating a projective invariant of an artificial mark detected from the image taken for the driving place and analyzing the position of the intelligent system using global location information of the detected artificial mark in the driving place obtained by the calculated projective invariant and location information between the intelligent system and the detected artificial mark; controlling driving of the intelligent system according to the position information of the intelligent system, providing a database of indices according to a combination of colors of polygons included in the artificial mark, projective invariants of the artificial marks; and searching the database by the calculated projective invariant for obtaining the global location information of the detected artificial mark. - View Dependent Claims (7, 8, 9, 10)
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11. A non-transitory computer readable recording medium having embodied thereon a computer program for a method of controlling an intelligent system using an artificial mark comprising:
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obtaining an image taken for a driving place; calculating a projective invariant of an artificial mark detected from the image taken for the driving place and analyzing the position of the intelligent system using global location information of the detected artificial mark in the driving place obtained by the calculated projective invariant and location information between the intelligent system and the detected artificial mark; controlling driving of the intelligent system according to the position information of the intelligent system, providing a database of indices according to a combination of colors of polygons included in the artificial mark, projective invariants of the artificial marks; and searching the database by the calculated projective invariant for obtaining the global location information of the detected artificial mark.
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Specification