Open terrain navigation systems and methods
First Claim
1. A navigation system through a terrain, the system comprising:
- at least one sensor mounted on a vehicle and configured to capture terrain-related data,a classifier configured to receive a terrain-related data comprising at least one image of a terrain and to determine, based on the at least one image of the terrain, at least one classified image of the terrain comprising multiple patches of classified pixels, wherein each patch of classified pixels of the multiple patches of classified pixels is represented as a specific class of a specified number of classes associated with predetermined physical parameters of the respective class;
a physical traversability module configured togenerate, based on the at least one classified image of the terrain, a terrain topography, given vehicle dynamic parameters, and, using a predetermined vehicle physical dynamic model comprising vehicle behavior patterns associated with the physical parameters, a vectorial dynamic physical traversability map of the terrain comprising physical traversability measures of the vehicle at specific points or regions in the terrain in a plurality of directions that include at least two opposite directions and further comprising possible movement directions and possible directions of approach and departure of the vehicle at the specific points or regions and along the specific regions thereof,a routing module configured to derive, based on the vectorial dynamic physical traversability map of the terrain, at least one route through the terrain, anda graphical user interface configured to display, upon the at least one image of the terrain, the at least one route according to the movement directions thereof;
wherein the physical traversability module is further configured to determine the physical traversability measures, further based on the captured terrain-related data; and
wherein the physical traversability module is further arranged to apply a full physical simulation of a vehicle'"'"'s motion through the whole at least one route using the predetermined vehicle physical dynamic model and based on the at least one classified image of the terrain, the terrain topography and the given vehicle dynamic parameters, to thereby determine a route information concerning the physicality of the vehicle'"'"'s motion along the at least one route.
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Accused Products
Abstract
Navigation systems and methods are provided. A classifier is configured to transform a received image of a terrain into a classified image in which patches of pixels from the received image are represented as being in one of a specified number of material classes, each associated with respective terrain parameters. A physical traversability module is configured to determine, for the material parameters, a terrain topography and given vehicle parameters, a degree of traversability of the vehicle through the terrain as represented by the received image, to yield a traversability map. A routing module is configured to derive traversability measure(s) for route(s) through the classified image and with respect to the traversability map, between a given origin and a given destination or within a region with respect to a user-defined mission. A graphical user interface is configured to display the route(s) according to the traversability measure(s).
7 Citations
16 Claims
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1. A navigation system through a terrain, the system comprising:
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at least one sensor mounted on a vehicle and configured to capture terrain-related data, a classifier configured to receive a terrain-related data comprising at least one image of a terrain and to determine, based on the at least one image of the terrain, at least one classified image of the terrain comprising multiple patches of classified pixels, wherein each patch of classified pixels of the multiple patches of classified pixels is represented as a specific class of a specified number of classes associated with predetermined physical parameters of the respective class; a physical traversability module configured to generate, based on the at least one classified image of the terrain, a terrain topography, given vehicle dynamic parameters, and, using a predetermined vehicle physical dynamic model comprising vehicle behavior patterns associated with the physical parameters, a vectorial dynamic physical traversability map of the terrain comprising physical traversability measures of the vehicle at specific points or regions in the terrain in a plurality of directions that include at least two opposite directions and further comprising possible movement directions and possible directions of approach and departure of the vehicle at the specific points or regions and along the specific regions thereof, a routing module configured to derive, based on the vectorial dynamic physical traversability map of the terrain, at least one route through the terrain, and a graphical user interface configured to display, upon the at least one image of the terrain, the at least one route according to the movement directions thereof; wherein the physical traversability module is further configured to determine the physical traversability measures, further based on the captured terrain-related data; and wherein the physical traversability module is further arranged to apply a full physical simulation of a vehicle'"'"'s motion through the whole at least one route using the predetermined vehicle physical dynamic model and based on the at least one classified image of the terrain, the terrain topography and the given vehicle dynamic parameters, to thereby determine a route information concerning the physicality of the vehicle'"'"'s motion along the at least one route. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A navigation method through a terrain, the method comprising:
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receiving a terrain-related data comprising at least one image of a terrain; determining, based on the at least one image of the terrain, at least one classified image of the terrain comprising multiple patches of classified pixels, wherein each patch of classified pixels of the multiple patches of classified pixels is represented as a specific class of a specified number of classes associated with predetermined physical parameters of the respective class; generating, based on the at least one classified image of the terrain, a terrain topography and given vehicle dynamic parameters, and using a predetermined vehicle physical dynamic model comprising vehicle behavior patterns associated with the physical parameters, a vectorial dynamic physical traversability map of the terrain comprising physical traversability measures of specific points or regions in the terrain in a plurality of directions that include at least two opposite directions and further comprising possible movement directions and possible directions of approach and departure of the vehicle at the specific points or regions and along the specific regions thereof; deriving, based on the vectorial dynamic physical traversability map of the terrain, at least one route through the terrain comprising movement directions at specific points or regions in the terrain, and utilizing a full physical simulation of a vehicle'"'"'s motion to the whole at least one route, using the predetermined vehicle physical dynamic model and based on at least one classified image of the terrain, the terrain topography and the given vehicle dynamic parameters, to thereby determine a route information concerning the physicality of the vehicle'"'"'s motion along the at least one route, capturing terrain-related data via a vehicle-mounted sensor, and determining the physical traversability measures further based on the captured terrain-related data. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification