Methods and systems for enabling improved positioning of a vehicle
First Claim
1. A method performed by an object size mapping system for enabling improved object mapping to support improved positioning of a vehicle, the object size mapping system comprising a first reference camera adapted to be arranged on-board a reference vehicle, the method comprising:
- determining a current reference position of the reference vehicle;
capturing by the first reference camera, at the current reference position of the reference vehicle, a current reference image of a stationary physical reference object situated in the surroundings of the reference vehicle;
determining a current reference size value of at least a portion of the stationary physical reference object in the current reference image; and
storing the current reference size value to be associated with the current reference position of the reference vehicle, and with a mapped digital reference object corresponding to the stationary physical reference object.
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Abstract
A method performed by an object size mapping system is described for enabling improved positioning of a vehicle. The object size mapping system includes a first reference camera adapted to be arranged on-board a reference vehicle. The object size mapping system determines a current reference position of the reference vehicle. The system captures by the first reference camera, at the current reference position of the reference vehicle, a current reference image of a stationary physical reference object situated in the surroundings of the reference vehicle. The object size mapping system then determines a current reference size value of at least a portion of the stationary physical reference object, in the current reference image. The object size mapping system stores the current reference size value to be associated with the current reference position of the reference vehicle and a mapped digital reference object corresponding to the stationary physical reference object.
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Citations
16 Claims
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1. A method performed by an object size mapping system for enabling improved object mapping to support improved positioning of a vehicle, the object size mapping system comprising a first reference camera adapted to be arranged on-board a reference vehicle, the method comprising:
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determining a current reference position of the reference vehicle; capturing by the first reference camera, at the current reference position of the reference vehicle, a current reference image of a stationary physical reference object situated in the surroundings of the reference vehicle; determining a current reference size value of at least a portion of the stationary physical reference object in the current reference image; and storing the current reference size value to be associated with the current reference position of the reference vehicle, and with a mapped digital reference object corresponding to the stationary physical reference object. - View Dependent Claims (2, 3)
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4. A method performed by a vehicle positioning system for enabling improved object mapping to support improved positioning of a vehicle, the vehicle positioning system comprising a first camera adapted to be arranged on-board the vehicle, the first camera comprising predetermined characteristics, the method comprising:
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estimating a current position of the vehicle; capturing, by the first camera at the current position of the vehicle, a current image of a stationary physical object situated in surroundings of the vehicle; identifying a pre-stored mapped digital object to correspond to the stationary physical object; determining a current size value of at least a portion of the stationary physical object in the image; comparing the current size value to a pre-stored reference size value of a reference image pre-captured by the first camera comprising the predetermined characteristics, which reference size value is associated with the current vehicle position and the mapped digital object; and re-evaluating the estimated current position of the vehicle based on an outcome of the comparing the current size value to the reference size value. - View Dependent Claims (5, 6, 7)
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8. An object size mapping system for enabling improved object mapping to support improved positioning of a vehicle, the object size mapping system comprising:
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a first reference camera adapted to be arranged on-board a reference vehicle; a reference positioning unit adapted for determining a current reference position of the reference vehicle; a reference image capturing unit adapted for capturing, using the first reference camera, at the current reference position of the reference vehicle, a current reference image of a stationary physical reference object situated in surroundings of the reference vehicle; a reference size determining unit adapted for determining a current reference size value of at least a portion of the stationary physical reference object in the current reference image; and a reference storing unit adapted for storing the current reference size value to be associated with the current reference position of the reference vehicle, and with a mapped digital reference object corresponding to the stationary physical reference object. - View Dependent Claims (9, 10, 15)
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11. A vehicle positioning system for enabling improved object mapping to support improved positioning of a vehicle, the vehicle positioning system comprising:
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a first camera adapted to be arranged on-board the vehicle, the first camera comprising predetermined characteristics; a positioning unit adapted for estimating a current position of the vehicle; an image capturing unit adapted for capturing, using the first camera, at the current position of the vehicle, a current image of a stationary physical object situated in surroundings of the vehicle; a digital object identifying unit adapted for identifying a pre-stored mapped digital object to correspond to the stationary physical object; a size determining unit adapted for determining a current size value of at least a portion of the stationary physical object in the current image; a size comparing unit adapted for comparing the current size value to a pre-stored reference size value of a reference image pre-captured by the first camera comprising the predetermined characteristics, which reference size value is associated with the current vehicle position and the mapped digital object; and a re-evaluating unit adapted for re-evaluating the estimated current position of the vehicle based on an outcome of the comparing the current size value to the reference size value. - View Dependent Claims (12, 13, 14, 16)
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Specification