System and method for navigation assistance

• US 9,996,083 B2
• Filed: 04/28/2016
• Issued: 06/12/2018
• Est. Priority Date: 04/28/2016
• Status: Active Grant

• Current Assignee: Sharp Kabushiki Kaisha (Hon Hai Precision Industry Co., Ltd.)
• Original Assignee: Sharp Laboratories of America Incorporated (Hon Hai Precision Industry Co., Ltd.)
• Inventors: Vojak, William
• Primary Examiner(s): Antonucci, Anne M
• Assistant Examiner(s): Stroud, James E
• Application Number:
  US15/141,316
• Publication Number:
  US 20170315558A1
• Time in Patent Office: 775 Days
• Field of Search: 701 23
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 1/7032 Transmitters
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2201/01 adapted for specific applications or environments
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70

Abstract

A system and method are provided for navigation correction assistance. The method provides a vehicle with a camera and an autonomous navigation system comprising a navigation buoy database and a navigation application. The navigation application visually acquires a first navigation buoy with an identity marker and accesses the navigation buoy database, which cross-references the first navigation buoy identity marker to a first spatial position. A first direction marker on the first navigation buoy is also visually acquired. In response to visually acquiring the first direction marker, a first angle is determined between the camera and the first spatial position. A first distance may also be determined between the vehicle and the first navigation buoy using visual methods or auxiliary position or distance measurement devices. Then, in response to the first spatial position, the first angle, and the first distance, the spatial position of the vehicle can be calculated using trigonometry.

Claims

1. A method for navigation correction assistance, the method comprising:

providing a vehicle with a camera and an autonomous navigation system comprising a processor, a non-transitory memory, a visual navigation buoy database stored in the memory, and a navigation application enabled as a sequence of processor executable instructions stored in the memory for autonomously navigating;

the navigation application visually acquiring a first visual navigation buoy with an identity marker;

accessing the navigation buoy database to cross-reference the first navigation buoy identity marker to a first spatial position;

visually acquiring a first direction marker on the first navigation buoy; and

,

in response to visually acquiring the first direction marker, determining a first angle between the camera and the first spatial position.

2. The method of claim 1 further comprising:

determining a first distance between the vehicle and the first navigation buoy; and

,

in response to the first spatial position, the first angle, and the first distance, determining a spatial position of the vehicle.

3. The method of claim 2 wherein determining the first distance includes using a method selected from a group consisting of laser measurement, radar measurement, visual measurement, global positioning satellite (GPS) information, or inertial measurement dead reckoning.

4. The method of claim 2 wherein providing the vehicle includes providing a vehicle with a reference measurement system and an auxiliary measurement system offset from the reference measurement system by a predetermined amount;

and,

wherein determining the first distance between the vehicle and the first navigation buoy includes;

accepting position-related data from the reference and auxiliary measurement systems;

applying corrections to account for the offset; and

,

merging the reference and auxiliary measurement system position-related data.

5. The method of claim 2 wherein the navigation application visually acquiring a first navigation buoy includes visually acquiring a navigation buoy having a visible feature with a predetermined size;

and,

wherein determining the first distance between the vehicle and the first navigation buoy includes calculating a relationship between the predetermined size of the buoy visible feature and the amount of camera image space occupied by the buoy feature.

6. The method of claim 5 wherein providing the camera includes providing a camera with a zoom lens;

wherein visually acquiring the navigation buoy visible feature with the predetermined size includes adjusting the camera zoom to visually acquire the navigation buoy visible feature; and

,

wherein calculating the relationship between the predetermined size of the buoy visible feature and the amount of camera image space occupied by the buoy feature includes calculating the relationship between the predetermined size of the buoy visible feature and the degree of zoom required to occupy a predetermined portion of camera image space.

7. The method of claim 1 further comprising:

visually acquiring a second visual navigation buoy with an identity marker;

accessing the navigation buoy database to cross-reference the second navigation buoy identity marker to a second spatial position;

visually acquiring a second direction marker on the second navigation buoy;

in response to visually acquiring the second direction marker, determining a second angle between the camera and the second spatial position; and

,

in response to the first spatial position, the second spatial position, the first angle, and the second angle, determining the spatial position of the vehicle.

8. The system of claim 1 wherein determining the first angle includes:

initially identifying a first quadrant with a first quadrant boundary, where the first quadrant represents a first predetermined general geographic direction divided into a plurality of degrees with corresponding degree markers, and where the first quadrant boundary represents a predetermined number of degrees associated with an explicit geographic direction;

counting the number of degree markers between the first quadrant boundary and the first direction marker, creating a count; and

,

adding the count to the predetermined number of degrees to calculate the first angle.

9. The method of claim 8 wherein visually acquiring the first direction marker includes selecting a degree marker in a centerline of a vehicle camera image.

10. A system for navigation correction assistance comprising:

a first visual navigation buoy having a predetermined spatial position, an identity marker, and a circumference with predetermined direction markers;

a camera mounted in a vehicle having an output to supply images;

a processor;

a non-transitory memory;

a visual navigation buoy database stored in the memory comprising navigation buoy identify markers cross-referenced to spatial positions; and

a navigation application stored in the memory and enabled as a sequence of processor executable instructions, the navigation application having an interface to receive images from the camera, visually acquire the first visual navigation buoy, access the navigation buoy database to determine a first spatial position associated with the first navigation buoy identity marker, visually acquire a first direction marker on the first navigation buoy, and determine a first angle between the camera and the first spatial position.

11. The system of claim 10 wherein the navigation application has an interface to accept a measurement of a first distance between the vehicle and the first navigation buoy, and in response to the first spatial position, the first angle, and the first distance, determine a spatial position of the vehicle.

12. The system of claim 11 further comprising:

a measurement device having an output interface to supply position-related data for calculating the first distance measurement, where the device is selected from a group consisting of a laser range finder, radar, distance visual calculation module stored in memory as a sequence of processor executable instructions, a global positioning satellite (GPS) receiver, or an inertial measurement unit (IMU).

13. The system of claim 11 further comprising:

a reference measurement device mounted in the vehicle and having an output interface to supply position-related data;

an auxiliary measurement device mounted in the vehicle a predetermined offset from the reference measurement device, having an output interface to supply the position-related data; and

,

wherein the navigation application accepts position-related data from the reference and auxiliary measurement devices, applies corrections to account for the offset, and merges the reference and auxiliary measurement device data.

14. The system of claim 11 wherein the first navigation buoy has a visible feature with a predetermined size;

and,

wherein the navigation application determines the first distance between the vehicle and the first navigation buoy by calculating a relationship between the predetermined size of the buoy feature and the amount of camera image space occupied by the buoy feature.

15. The system of claim 14 wherein the camera has a zoom lens;

and,

wherein the navigation application determines the first distance by calculating the relationship between the predetermined size of the buoy visible feature and the degree of zoom required to occupy a predetermined portion of camera image space.

16. The system of claim 10 further comprising:

a second visual navigation buoy having a predetermined spatial position, an identity marker, and a circumference with predetermined direction markers; and

,

wherein the navigation application visually acquires the second navigation buoy, accesses the navigation buoy database to cross-reference the second navigation buoy identity marker to a second spatial position, visually acquires a second direction marker on the second navigation buoy, determines a second angle between the camera and the second spatial position, and in response to the first spatial position, the second spatial position, the first angle, and the second angle, determines the spatial position of the vehicle.

17. The system of claim 10 wherein the first navigation buoy direction markers are organized into quadrants, each quadrant associated with a general geographic direction and divided into a plurality of degrees, where the quadrant boundaries are associated with a predetermined number of degrees cross-referenced to an explicit geographic direction;

and,

wherein the navigation application identifies a first quadrant with a first quadrant boundary, counts the number of degree markers between the first quadrant boundary and the first direction marker, creating a count, and adds the count to the predetermined number of degrees associated with the first quadrant boundary to calculate the first angle.

18. The system of claim 17 wherein the navigation application visually acquires the first direction marker by selecting a degree marker in a centerline of the camera image.

19. A navigation buoy system comprising:

a plurality of navigation buoys, each navigation buoy having a predetermined spatial position, an identity marker cross-referenced to its spatial position, and a circumference with a plurality of direction markers.

20. The system of claim 19 wherein the direction markers are organized into quadrants, each quadrant associated with a general geographic direction and divided into a plurality of degrees, and where each quadrant boundary is associated with a predetermined number of degrees cross-referenced to an explicit geographic direction.