Method for locating an object using a reference grid
First Claim
1. A method for locating an object by a reference grid, the object moving in a plane parallel to or identical to that of the grid, the grid being defined by a plurality of horizontal lines aligned along a first direction and a plurality of vertical lines aligned along a second direction distinct from the first direction, the vertical lines being separated by a first distance, Lx, along the first direction and the horizontal lines being separated by a second distance, Ly, along the second direction, the method comprising, each time the object crosses at least one line of the grid:
- determining a heading, φ
i, of the object with respect to a reference direction;
obtaining, as a function of the determined heading, probabilities p(dyi|φ
i), p(dxi|φ
i), of the at least one line of the grid crossed by the object being respectively a horizontal line of the grid and a vertical line of the grid, when the object moves in the heading direction, φ
i, where dyi is a displacement of the object in the second direction, and dxi is a displacement of the object in the first direction;
assessing, from the probabilities p(dyi|φ
i), p(dxi|φ
i), the first distance, Lx, and the second distance, Ly, a displacement, (,), of the object since a most recent time the object crossed the at least one line of the grid; and
updating a position, ({circumflex over (x)}i, ŷ
i), of the object in the reference grid from the assessed displacement, (,).
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Abstract
A method for locating an object by a reference grid, the object moving in a plane parallel to or identical to that of the grid. When crossing of a line of the grid is detected by the object, its heading is determined and, as a function of the detection, probabilities of the thus crossed line being a horizontal line and a vertical line respectively are obtained. Displacement of the object is assessed from the probabilities obtained and a horizontal and vertical pitch of the grid. A position of the object is then updated from a position of the object determined during a last line crossing of the grid and the displacement thus assessed.
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Citations
15 Claims
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1. A method for locating an object by a reference grid, the object moving in a plane parallel to or identical to that of the grid, the grid being defined by a plurality of horizontal lines aligned along a first direction and a plurality of vertical lines aligned along a second direction distinct from the first direction, the vertical lines being separated by a first distance, Lx, along the first direction and the horizontal lines being separated by a second distance, Ly, along the second direction, the method comprising, each time the object crosses at least one line of the grid:
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determining a heading, φ
i, of the object with respect to a reference direction;obtaining, as a function of the determined heading, probabilities p(dyi|φ
i), p(dxi|φ
i), of the at least one line of the grid crossed by the object being respectively a horizontal line of the grid and a vertical line of the grid, when the object moves in the heading direction, φ
i, where dyi is a displacement of the object in the second direction, and dxi is a displacement of the object in the first direction;assessing, from the probabilities p(dyi|φ
i), p(dxi|φ
i), the first distance, Lx, and the second distance, Ly, a displacement, (,), of the object since a most recent time the object crossed the at least one line of the grid; andupdating a position, ({circumflex over (x)}i, ŷ
i), of the object in the reference grid from the assessed displacement, (,). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification