Localizing traffic situation using multi-vehicle collaboration
First Claim
1. A method comprising:
- receiving situation data including images from vehicles;
clustering, into an image cluster, the images included in the situation data of one or more vehicles located in a geographic region from among the vehicles;
locating one or more related situation objects in one or more images of the image cluster;
matching images from different vehicles in the image cluster, the matched images having one or more corresponding features of the one or more related situation objects;
determining three-dimensional (3D) sensor coordinates of the one or more related situation objects relative to a sensor position of a target vehicle associated with at least one of the matched images, using the one or more corresponding features of the one or more related situation objects in the matched images;
converting the 3D sensor coordinates of the one or more related situation objects to geolocation coordinates of the one or more related situation objects using geolocation data of the different vehicles associated with the matched images; and
determining a coverage area of a traffic situation based on the geolocation coordinates of the one or more related situation objects.
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Abstract
A method receives situation data including images from vehicles; clusters, into an image cluster, the images included in the situation data of vehicle(s) located in a geographic region from among the vehicles; locates related situation object(s) in image(s) of the image cluster; matches images from different vehicles in the image cluster, the matched images having corresponding feature(s) of the related situation object(s); determines three-dimensional (3D) sensor coordinates of the related situation object(s) relative to a sensor position of a target vehicle associated with at least one matched image, using the corresponding feature(s) of the related situation object(s) in the matched images; converts the 3D sensor coordinates of the related situation object(s) to geolocation coordinates of the related situation object(s) using geolocation data of the different vehicles associated with the matched images; and determines a coverage area of a traffic situation based on the geolocation coordinates of the related situation object(s).
41 Citations
21 Claims
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1. A method comprising:
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receiving situation data including images from vehicles; clustering, into an image cluster, the images included in the situation data of one or more vehicles located in a geographic region from among the vehicles; locating one or more related situation objects in one or more images of the image cluster; matching images from different vehicles in the image cluster, the matched images having one or more corresponding features of the one or more related situation objects; determining three-dimensional (3D) sensor coordinates of the one or more related situation objects relative to a sensor position of a target vehicle associated with at least one of the matched images, using the one or more corresponding features of the one or more related situation objects in the matched images; converting the 3D sensor coordinates of the one or more related situation objects to geolocation coordinates of the one or more related situation objects using geolocation data of the different vehicles associated with the matched images; and determining a coverage area of a traffic situation based on the geolocation coordinates of the one or more related situation objects. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system comprising:
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one or more processors; one or more memories storing instructions that, when executed by the one or more processors, cause the system to; receive situation data including images from vehicles; cluster, into an image cluster, the images included in the situation data of one or more vehicles located in a geographic region from among the vehicles; locate one or more related situation objects in one or more images of the image cluster; match images from different vehicles in the image cluster, the matched images having one or more corresponding features of the one or more related situation objects; determine three-dimensional (3D) sensor coordinates of the one or more related situation objects relative to a sensor position of a target vehicle associated with at least one of the matched images, using the one or more corresponding features of the one or more related situation objects in the matched images; convert the 3D sensor coordinates of the one or more related situation objects to geolocation coordinates of the one or more related situation objects using geolocation data of the different vehicles associated with the matched images; and determine a coverage area of a traffic situation based on the geolocation coordinates of the one or more related situation objects. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method comprising:
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receiving situation data including images from vehicles; clustering, into an image cluster, the images included in the situation data of one or more vehicles located in a geographic region from among the vehicles; locating one or more related situation objects in one or more images of the image cluster; matching images from different vehicles in the image cluster, the matched images having one or more corresponding features of the one or more related situation objects; determining three-dimensional (3D) sensor coordinates of the one or more related situation objects relative to a sensor position of a target vehicle associated with at least one of the matched images, using the one or more corresponding features of the one or more related situation objects in the matched images; converting the 3D sensor coordinates of the one or more related situation objects to geolocation coordinates of the one or more related situation objects using geolocation data of the different vehicles associated with the matched images; determining a coverage area of a traffic situation based on the geolocation coordinates of the one or more related situation objects; and determining a navigation path associated with the geographical region based on the coverage area of the traffic situation.
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Specification