Detecting common geographic features in images based on invariant components
First Claim
1. A method of detecting a common road sign from collected images to develop a master navigation database, the method comprising:
- collecting a plurality of images of geographic areas along a road;
selecting an image of the plurality of images;
applying an image area restraint that constrains an allowable area of the selected image for identification of object components to an elevated area of the selected image;
determining components that correspond to an object about the road in the allowable area of the selected image, the determined components being independent to scale of the object;
comparing the determined components to reference components in a data library;
when, based on the comparison, the determined components substantially meet a matching threshold with the reference components, identifying the object in the selected image to be a common text pattern of a common road sign corresponding to the reference components in the data library;
modifying a path segment attribute for the road in the master navigation database to include an association with the common road sign based on the identified common text pattern of the common road sign; and
providing a navigation service from the master navigation database according to the modified attribute of the path segment.
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Accused Products
Abstract
Systems, devices, features, and methods for detecting common geographic features in images, such as, for example, to develop a navigation database are disclosed. For example, a method of detecting a common text pattern, such as for a road or path sign, from collected images includes collecting a plurality of images of geographic areas along a road or path. An image of the plurality of images is selected. Components that correspond to an object about the road or path in the selected image are determined. In one embodiment, the determined components are independent or invariant to scale of the object. The determined components are compared to reference components in a data library. If the determined components substantially match the reference components, the object in the selected image is identified to be a common pattern, such as for a standard road or path sign, corresponding to the reference components in the data library.
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Citations
18 Claims
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1. A method of detecting a common road sign from collected images to develop a master navigation database, the method comprising:
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collecting a plurality of images of geographic areas along a road; selecting an image of the plurality of images; applying an image area restraint that constrains an allowable area of the selected image for identification of object components to an elevated area of the selected image; determining components that correspond to an object about the road in the allowable area of the selected image, the determined components being independent to scale of the object; comparing the determined components to reference components in a data library; when, based on the comparison, the determined components substantially meet a matching threshold with the reference components, identifying the object in the selected image to be a common text pattern of a common road sign corresponding to the reference components in the data library; modifying a path segment attribute for the road in the master navigation database to include an association with the common road sign based on the identified common text pattern of the common road sign; and providing a navigation service from the master navigation database according to the modified attribute of the path segment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of detecting a standard road object in an image, the method comprising:
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capturing a plurality of images along roads, the plurality of images captured via a camera mounted on a vehicle; applying an image area restraint to the plurality of images that constrains an allowable area of the images for identification of object components to an elevated area of the images; determining scale-invariant features of each of the plurality of images in the allowable area, the scale-invariant features determined as a function of a scale-invariant feature transform; comparing the determined scale-invariant features with reference scale-invariant features to determine whether a desired road object is included in at least one of the plurality of images, the reference invariant features corresponding to the desired road object; identifying at least one of the plurality of images determined to include the desired road object as a function of the comparison between the determined scale-invariant features and the reference scale-invariant features, the desired road object including a standard label pattern; modifying a path segment attribute or node attribute in a navigation database to include an association with the desired road object including the standard label pattern; and providing a navigation service from the navigation database according to the modified attribute. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A method comprising:
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capturing a plurality of images along roads, the plurality of images captured via a camera mounted on a vehicle; applying an image area restraint to the plurality of images that constrains an allowable area of the images for identification of scale invariant features to an elevated area of the images; determining scale-invariant features of each of the plurality of images within the allowable area, the scale-invariant features determined as a function of a scale-invariant feature transform; comparing the determined scale-invariant features with reference scale-invariant features to determine whether a desired road object is included in at least one of the plurality of images, the reference invariant features corresponding to the desired road object; identifying at least one of the plurality of images determined to include the desired road object as a function of the comparison between the determined scale-invariant features and the reference scale-invariant features, the desired road object including a standard label pattern indicating a speed limit; assigning the speed limit to a path segment in a navigation database according to the desired road object including the standard label pattern indicating the speed limit; and providing a navigation service from the navigation database according to the standard label pattern indicating the speed limit.
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Specification