APPARATUS, METHOD AND COMPUTER PROGRAM FOR DETERMINING A POSITION ON THE BASIS OF A CAMERA IMAGE FROM A CAMERA
2 Assignments
0 Petitions
Accused Products
Abstract
An apparatus for determining a position on the basis of a camera image from a camera includes a Hough transformer, a positional description establisher and a database comparator. The Hough transformer is formed to identify circular arcs or elliptical arcs in the camera image or in a preprocessed version of the camera image derived therefrom, and to identify a plurality of straight stretches passing in various directions through the camera image or through the preprocessed version. The positional description establisher is formed to obtain a positional description describing the identified circular arcs or elliptical arcs and the identified straight stretches by parameters, on the basis of the identified circular arcs or elliptical arcs and on the identified straight stretches. The database comparator further is formed to compare the positional description with a plurality of comparative positional descriptions and to obtain information on a position as a result of the comparison.
169 Citations
42 Claims
-
1-21. -21. (canceled)
-
22. An apparatus for determining a position on the basis of a camera image from a camera, comprising:
-
a Hough transformer formed to identify circular arcs or elliptical arcs in the camera image or in a preprocessed version of the camera image derived therefrom, and to identify a plurality of straight stretches passing in various directions through the camera image or through the preprocessed version, wherein the Hough transformer is formed to provide information on a location of an identified circular arc or elliptical arc, and to provide information on a radius of curvature of the identified circular arc or elliptical arc; a positional description establisher formed to acquire a positional description describing the identified circular arcs or elliptical arcs and the identified straight stretches by parameters, on the basis of the identified circular arcs or elliptical arcs and on the identified straight stretches, wherein the positional description for identified circular arcs or elliptical arcs comprises information on a location of an identified circular arc or elliptical arc and information on a radius of curvature of the identified circular arc or elliptical arc; and a database comparator formed to compare the positional description with a plurality of comparative positional descriptions, and to acquire information on a position as a result of the comparison, wherein the database comparator is formed to form a difference between a feature vector of the positional description and feature vectors of the comparative positional descriptions, and to output, as the result, positional information belonging to the corresponding comparative positional description in response to the difference for one of the comparative positional descriptions being sufficiently small. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40)
-
-
41. A method of determining a position on the basis of a camera image from a camera, comprising:
-
Hough-transforming the camera image or a preprocessed version of the camera image, in order to identify circular arcs or elliptical arcs in the camera image or in the preprocessed version of the camera image, and to identify a plurality of straight stretches passing in various directions through the camera image or through the preprocessed version derived therefrom, wherein, by Hough-transforming, information on a location of an identified circular arc or elliptical arc and information on a radius of curvature of the identified circular arc or elliptical arc are provided; establishing a positional description describing the identified circular arcs or elliptical arcs and the identified straight stretches by parameters, on the basis of the identified circular arcs or elliptical arcs and the identified straight stretches, wherein the positional description for identified circular arcs or elliptical arcs comprises information on a location of an identified circular arc or elliptical arc and information on a radius of curvature of the identified circular arc or elliptical arc; and comparing the positional description with a plurality of comparative positional descriptions in a database, in order to acquire information on the position as a result of the comparison, wherein a difference between a feature vector of the positional description and feature vectors of the comparative positional descriptions is being formed, and wherein positional information belonging to the corresponding comparative positional description is output as the result in response to the difference for one of the comparative positional descriptions being sufficiently small.
-
-
42. A computer readable medium having a computer program for performing, when the computer program is executed on a computer, a method of determining a position on the basis of a camera image from a camera, the method comprising:
-
Hough-transforming the camera image or a preprocessed version of the camera image, in order to identify circular arcs or elliptical arcs in the camera image or in the preprocessed version of the camera image, and to identify a plurality of straight stretches passing in various directions through the camera image or through the preprocessed version derived therefrom, wherein, by Hough-transforming, information on a location of an identified circular arc or elliptical arc and information on a radius of curvature of the identified circular arc or elliptical arc are provided; establishing a positional description describing the identified circular arcs or elliptical arcs and the identified straight stretches by parameters, on the basis of the identified circular arcs or elliptical arcs and the identified straight stretches, wherein the positional description for identified circular arcs or elliptical arcs comprises information on a location of an identified circular arc or elliptical arc and information on a radius of curvature of the identified circular arc or elliptical arc; and comparing the positional description with a plurality of comparative positional descriptions in a database, in order to acquire information on the position as a result of the comparison, wherein a difference between a feature vector of the positional description and feature vectors of the comparative positional descriptions is being formed, and wherein positional information belonging to the corresponding comparative positional description is output as the result in response to the difference for one of the comparative positional descriptions being sufficiently small.
-
Specification