Navigation system and method of determining a vehicle position
First Claim
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1. A navigation system, comprising:
- an image sensor configured to capture image data;
a map database comprising street lighting data that includes, for a plurality of street lights, position data indicating a position at which a street light is installed and height data indicating a height at which a light source of the street light is located; and
a processing device coupled to the map database and the image sensor, the processing device configured to;
identify a portion of the image data located above a horizon line;
refine a position estimate by analyzing the portion of the image data in view of the street lighting data;
compute a light pattern above the horizon line based on the street lighting data; and
compare the computed light pattern with the portion of the image data located above the horizon line,wherein computing the light pattern comprises computing the light pattern as a function of a point of view and varying the point of view based on a comparison of the computed light pattern and the portion of the image data located above the horizon line to refine the position estimate.
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Abstract
Navigation system and method of determining a vehicle position A navigation system comprises an image sensor configured to capture image data. A map database comprises street lighting data which includes, for a plurality of street lights (41), position data indicating a position (31) at which a street light (41) is installed and height data indicating a height (34) at which a light source (42) of the street light (41) is located. A processing device is configured to refine a position estimate by analyzing the image data using the street lighting data.
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Citations
14 Claims
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1. A navigation system, comprising:
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an image sensor configured to capture image data; a map database comprising street lighting data that includes, for a plurality of street lights, position data indicating a position at which a street light is installed and height data indicating a height at which a light source of the street light is located; and a processing device coupled to the map database and the image sensor, the processing device configured to; identify a portion of the image data located above a horizon line; refine a position estimate by analyzing the portion of the image data in view of the street lighting data; compute a light pattern above the horizon line based on the street lighting data; and compare the computed light pattern with the portion of the image data located above the horizon line, wherein computing the light pattern comprises computing the light pattern as a function of a point of view and varying the point of view based on a comparison of the computed light pattern and the portion of the image data located above the horizon line to refine the position estimate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vehicle, comprising:
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a navigation system that includes; an image sensor configured to capture image data, a map database comprising street lighting data that includes, for a plurality of street lights, position data indicating a position at which a street light is installed and height data indicating a height at which a light source of the street light is located, and a processing device coupled to the map database and the image sensor, the processing device configured to; identify a portion of the image data located above a horizon line; refine a position estimate by analyzing the portion of the image data in view of the street lighting data; compute a light pattern above the horizon line based on the street lighting data; and compare the computed light pattern with the portion of the image data located above the horizon line, wherein computing the light pattern comprises computing the light pattern as a function of a point of view and varying the point of view based on a comparison of the computed light pattern and the portion of the image data located above the horizon line to refine the position estimate.
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11. A method of determining a vehicle position, comprising:
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capturing image data via an image sensor installed in a vehicle; retrieving street lighting data from a map database, wherein the street lighting data includes, for a plurality of street lights, position data indicating a position at which a street light is installed, and height data indicating a height at which a light source of the street light is located; identifying a portion of the image data located above a horizon line; refining a position estimate by analyzing the portion of the image data in view of the street lighting data; computing a light pattern above the horizon line based on the street lighting data; and compare the computed light pattern with the portion of the image data located above the horizon line, wherein computing the light pattern comprises computing the light pattern as a function of a point of view and varying the point of view based on a comparison of the computed light pattern and the portion of the image data located above the horizon line to refine the position estimate. - View Dependent Claims (12, 13, 14)
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Specification