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Coded marker navigation system and method

  • US 8,862,395 B2
  • Filed: 01/31/2011
  • Issued: 10/14/2014
  • Est. Priority Date: 01/31/2011
  • Status: Active Grant
First Claim
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1. A method of determining a location of a navigator on a roadway, the method comprising:

  • obtaining a plurality of images of a scene including at least one barcode marker at different times as the navigator moves, wherein the at least one barcode marker is disposed on infrastructure along the roadway;

    reading the at least one barcode marker in the plurality of images;

    representing a forward heading of the navigator as aligned with the roadway and having an azimuth offset of zero;

    determining a first relative azimuth offset between the navigator and the at least one barcode marker in a first image of the plurality of images of the scene;

    determining a second relative azimuth offset between the navigator and the at least one barcode marker in a second image of the plurality of images of the scene, wherein the first and second relative azimuth offsets comprise an angular change from the forward heading of the navigator; and

    geometrically calculating a position fix on the location of the navigator based on a known location of the at least one barcode marker and the first and second relative azimuth offsets at least in part by determining a distance from the navigator to the at least one barcode marker based on the first and second azimuth offsets and a distance traveled between obtaining the first image and the second image.

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