Method of locating a sensor and related apparatus
First Claim
1. A method of localizing a vehicle hosting a vehicle sensor comprising the steps of:
- a) capturing data from the vehicle sensor providing a single representation of an environment around the vehicle at a current time;
b) processing the single representation to extract a set of features from the single representation and to determine, using the extracted features, a position of the vehicle from the single representation in relation to an earlier time, the determination made by;
comparing the extracted set of features from the single representation to a plurality of collections of single representations representing a same physical space of the environment, wherein each collection includes a plurality of single representations and each single representation within the collections provides a set of features, determined from a previously sensed scene, against which the extracted set of features is compared to ascertain whether the single representation can be recognised within any of the plurality of stored collections of single representations; and
recognizing a node within the single representation of the environment around the vehicle at the current time; and
c) if the extracted set of features of the single representation are recognised within any one of the stored collections of single representations then that stored collection of single representations is used to produce an estimate of the position of the vehicle via linking the node at the current time with respect to a node in the stored collection of single representations.
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Accused Products
Abstract
A method of localizing a vehicle hosting a sensor comprises capturing data from the sensor providing a sensed scene around the vehicle at a current time, processing the sensed scene to extract a set of features from the sensed scene and determine a position of the vehicle from the sensed scene in relation to a previous position of the sensor, comparing the extracted set of features to one or more stored experiences, wherein each stored experience comprises a plurality of sets of features, where each set of features has been determined from a previously sensed scene, to ascertain whether the sensed scene can be recognized within any of the stored experiences, and if the extracted set of features of the sensed scene are recognized then that stored experience is used to produce an estimate of the position of the vehicle at the current time with respect to the stored experience.
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Citations
26 Claims
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1. A method of localizing a vehicle hosting a vehicle sensor comprising the steps of:
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a) capturing data from the vehicle sensor providing a single representation of an environment around the vehicle at a current time; b) processing the single representation to extract a set of features from the single representation and to determine, using the extracted features, a position of the vehicle from the single representation in relation to an earlier time, the determination made by; comparing the extracted set of features from the single representation to a plurality of collections of single representations representing a same physical space of the environment, wherein each collection includes a plurality of single representations and each single representation within the collections provides a set of features, determined from a previously sensed scene, against which the extracted set of features is compared to ascertain whether the single representation can be recognised within any of the plurality of stored collections of single representations; and recognizing a node within the single representation of the environment around the vehicle at the current time; and c) if the extracted set of features of the single representation are recognised within any one of the stored collections of single representations then that stored collection of single representations is used to produce an estimate of the position of the vehicle via linking the node at the current time with respect to a node in the stored collection of single representations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A system arranged to localise a vehicle, the system comprising a vehicle sensor arranged to generate data representing a single representation of an environment around the vehicle at a current time, processing circuitry arranged to process the data wherein the processing is arranged to:
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extract a set of features from the single representation to determine a position of the vehicle from the data relative to an earlier time, the determination made by comparing the extracted set of features to a plurality of stored collections of single representations representing a same physical space of the environment held within a storage device, wherein each collection includes a plurality of single representations and each single representation within the collections provides a set of features, to ascertain whether the single representation can be recognised within any of the stored collections of single representations; recognize a node within the single representation of the environment around the vehicle at the current time; and should the data allow the single representation to be recognised within any stored collections of single representations then use that stored collection of single representations to estimate the position of the vehicle via linking the node at the current time with a node in the stored collection of single representations. - View Dependent Claims (22, 23, 24, 25)
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26. A vehicle having a vehicle sensor mounted thereon, wherein the vehicle sensor is arranged to generate data representing a single representation of an environment around the vehicle at the current time, and a processing circuitry arranged to process the data wherein the processing circuitry is arranged to:
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extract a set of features from the single representation to determine a position of the vehicle from the data relative to an earlier time, the determination made by comparing the extracted set of features to a plurality of stored collections of single representations representing a same physical space of the environment held within a storage device, wherein each collection includes a plurality of single representations and each single representation within the collections provides a set of features, to ascertain whether the single representation can be recognised within any of the stored collections of single representations; recognize a node within the single representation of the environment around the vehicle at the current time; and should the data allow the single representation to be recognised within any stored collections of single representations then use that stored collection of single representations to estimate the position of the vehicle via linking the node at the current time with a node in the stored collection of single representations.
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Specification