Vision-based vehicle navigation system and method

• US 8,284,997 B2
• Filed: 03/11/2009
• Issued: 10/09/2012
• Est. Priority Date: 03/11/2009
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Ibrahim, Mohammed, Ramegowda, Dinesh, Seiler, Peter J.
• Primary Examiner(s): Fitzpatrick, Atiba O
• Application Number:
  US12/402,279
• Publication Number:
  US 20100232639A1
• Time in Patent Office: 1,308 Days
• Field of Search: 382100-107, 382/154, 348114-117, 701 26- 29, 180166-169
• US Class Current: 382/106
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06T 2207/30248 Vehicle exterior or interior
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 10/245 by locating a pattern; Special marks for positioning
• 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 method of determining aircraft position on an aerodrome ground surface having a centerline disposed thereon is provided. A current image of the aerodrome ground surface is captured using a camera that has a known focal length and is disposed on a vehicle at a preset pitch angle. The current image includes the centerline, which extends to a vanishing point in the captured image. The slope and intercept of at least a portion of the centerline are computed. The vertical and horizontal positions of the vanishing point are computed. An estimate of the vehicle position on the ground surface is computed using the computed horizontal and vertical positions of the vanishing point, the known focal length, and the preset pitch angle.

Claims

1. A method of determining aircraft position on an aerodrome ground surface having a centerline disposed thereon, the method comprising the steps of:

capturing a current image of the aerodrome ground surface using a camera having a known focal length and being disposed on an aircraft at a preset pitch angle, the image including the centerline, the centerline extending to a vanishing point in the captured image, and at least a portion of the centerline having a slope and an intercept;

computing the slope and intercept of at least a portion of the centerline;

computing a vertical position of the vanishing point;

computing a horizontal position of the vanishing point;

computing an estimate of the aircraft position on the aerodrome ground surface using the computed horizontal and vertical positions of the vanishing point, the known focal length, and the preset pitch angle.

2. The method of claim 1, wherein the step of computing the estimate of the aircraft position comprises:

computing an estimate of aircraft yaw angle relative to the centerline; and

computing an estimate of aircraft lateral offset relative to the centerline.

3. The method of claim 1, further comprising:

using a location of the centerline from a previously captured image of the aerodrome ground surface to predict a current location of the centerline in the current image.

4. The method of claim 1, further comprising:

line fitting the centerline using a Hough transform process; and

the slope and intercept are computed from the line fitted centerline.

5. The method of claim 1, further comprising:

selecting only a portion of the current image as a region of interest, before computing the slope and intercept of at least a portion of the centerline.

6. The method of claim 5, wherein:

the current image has a height dimension and a width dimension;

the region of interest has a height dimension and a width dimension;

the height dimension of the region of interest corresponds to one-half the height dimension of the current image; and

the width dimension of the region of interest is determined based in part on the slope of the centerline from a previously captured image of the aerodrome ground surface.

7. The method of claim 1, further comprising:

preprocessing the current image prior to conducting any of the steps of computing.

8. The method of claim 7, wherein the step of preprocessing the current image comprises filtering at least a portion of the current image to remove noise therefrom.

9. The method of claim 8, wherein the step of filtering at least a portion of the current image comprises performing adaptive noise removal using a two-dimensional Wiener filter.

10. The method of claim 7, wherein the step of preprocessing the current image comprises extracting edges of the current image to obtain single pixel thickness edges.

11. A system for estimating aircraft position on an aerodrome ground surface having a centerline disposed thereon, the system comprising:

a camera mounted on an aircraft at a preset pitch angle, the camera having a known focal length and operable to capture an image of at least a portion of the aerodrome ground surface including the visible centerline and supply image data representative of the captured image, the visible centerline extending to a vanishing point in the captured image, and at least a portion of the visible centerline in the captured image having a slope and an intercept; and

a processor coupled to receive the image data and operable, upon receipt thereof, to compute;

the slope and intercept of at least a portion of the centerline,

a vertical position of the vanishing point,

a horizontal position of the vanishing point, and

an estimate of the aircraft position on the aerodrome ground surface from the computed horizontal position of the vanishing point, the known focal length, and the preset pitch angle.

12. The system of claim 11, wherein the processor is configured to compute the estimate of the aircraft position by:

computing an estimate of aircraft yaw angle relative to the centerline; and

computing an estimate of aircraft lateral offset relative to the centerline.

13. The system of claim 11, wherein the processor is further configured to use a location of the centerline from a previously captured image of the aerodrome ground surface to predict a current location of the centerline in the current image.

14. The system of claim 11, wherein:

the processor is further configured to implement a Hough transform process to line fit the centerline using; and

the processor computes the slope and intercept from the line fitted centerline.

15. The system of claim 11, wherein the processor is further configured to select only a portion of the current image as a region of interest, before computing the slope and intercept of at least a portion of the centerline.

16. The system of claim 15, wherein:

the current image has a height dimension and a width dimension;

the region of interest has a height dimension and a width dimension;

the height dimension of the region of interest corresponds to one-half the height dimension of the current image; and

the width dimension of the region of interest is determined based in part on the slope of the centerline from a previously captured image of the aerodrome ground surface.

17. The system of claim 11, wherein the processor is further configured to preprocess the current image.

18. The system of claim 17, wherein the processor is configured to filter at least a portion of the current image to remove noise therefrom.

19. The system of claim 18, wherein the processor is configured to implement a two-dimensional Wiener filter.

20. The system of claim 17, wherein the processor is further configured to extract edges of the current image to obtain single pixel thickness edges.

21. A method of determining vehicle position on a ground surface having a centerline disposed thereon, the method comprising the steps of:

capturing a current image of the ground surface using a camera having a known focal length and being disposed on a vehicle at a preset pitch angle, the image including the centerline, the centerline extending to a vanishing point in the captured image, and at least a portion of the centerline having a slope and an intercept;

computing the slope and intercept of at least a portion of the centerline;

computing a vertical position of the vanishing point;

computing a horizontal position of the vanishing point;

computing an estimate of the vehicle position on the ground surface using the computed horizontal and vertical positions of the vanishing point, the known focal length, and the preset pitch angle.

22. The method of claim 21, further comprising:

determining that the ground surface is transitioning from a substantially straight segment to a curved segment.

23. The method of claim 22, further comprising:

sensing a change in vehicle heading; and

determining that the ground surface is transitioning from the substantially straight segment to the curved segment from the sensed change in vehicle heading.

24. The method of claim 22, further comprising:

receiving electronic moving map data and taxi route clearance data; and

determining that the ground surface is transitioning from the substantially straight segment to the curved segment from the received electronic moving map data and the taxi route clearance data.

25. The method of claim 22, further comprising:

receiving ground surface data from a ground surface database; and

determining that the ground surface is transitioning from the substantially straight segment to the curved segment from the received ground surface data.