FR3060115B1 - Localisation d'un vehicule - Google Patents
Localisation d'un vehicule Download PDFInfo
- Publication number
- FR3060115B1 FR3060115B1 FR1662420A FR1662420A FR3060115B1 FR 3060115 B1 FR3060115 B1 FR 3060115B1 FR 1662420 A FR1662420 A FR 1662420A FR 1662420 A FR1662420 A FR 1662420A FR 3060115 B1 FR3060115 B1 FR 3060115B1
- Authority
- FR
- France
- Prior art keywords
- location
- data
- vehicle
- item
- vision
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 abstract 2
- 238000001914 filtration Methods 0.000 abstract 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/579—Depth or shape recovery from multiple images from motion
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Data Mining & Analysis (AREA)
- Electromagnetism (AREA)
- Bioinformatics & Computational Biology (AREA)
- General Engineering & Computer Science (AREA)
- Evolutionary Computation (AREA)
- Evolutionary Biology (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Artificial Intelligence (AREA)
- Life Sciences & Earth Sciences (AREA)
- Navigation (AREA)
Abstract
Procédé de localisation d'un véhicule comportant au moins un capteur de vision et au moins un équipement parmi une centrale inertielle, un module satellitaire de navigation et un capteur odométrique, le procédé comportant une étape de : - localisation par vision (E1) à partir de données d'images fournies par l'au moins un capteur de vision, pour produire des premières données de localisation, caractérisé en ce qu'il comporte une étape de : - filtrage bayésien (E2) prenant en compte les premières données de localisation, des données issues de l'au moins un équipement et des données d'un modèle de scène (MS), pour produire des secondes données de localisation du véhicule.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1662420A FR3060115B1 (fr) | 2016-12-14 | 2016-12-14 | Localisation d'un vehicule |
PCT/FR2017/053551 WO2018109384A1 (fr) | 2016-12-14 | 2017-12-13 | Localisation d'un vehicule |
EP17821992.9A EP3555566A1 (fr) | 2016-12-14 | 2017-12-13 | Localisation d'un vehicule |
US16/469,013 US20190331496A1 (en) | 2016-12-14 | 2017-12-13 | Locating a vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1662420A FR3060115B1 (fr) | 2016-12-14 | 2016-12-14 | Localisation d'un vehicule |
FR1662420 | 2016-12-14 |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3060115A1 FR3060115A1 (fr) | 2018-06-15 |
FR3060115B1 true FR3060115B1 (fr) | 2020-10-23 |
Family
ID=58779092
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1662420A Active FR3060115B1 (fr) | 2016-12-14 | 2016-12-14 | Localisation d'un vehicule |
Country Status (4)
Country | Link |
---|---|
US (1) | US20190331496A1 (fr) |
EP (1) | EP3555566A1 (fr) |
FR (1) | FR3060115B1 (fr) |
WO (1) | WO2018109384A1 (fr) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109683618A (zh) * | 2018-12-28 | 2019-04-26 | 广州中国科学院沈阳自动化研究所分所 | 一种航行信号识别***及其识别方法 |
CN110967018B (zh) * | 2019-11-25 | 2024-04-12 | 斑马网络技术有限公司 | 停车场定位方法、装置、电子设备及计算机可读介质 |
CN111596329A (zh) * | 2020-06-10 | 2020-08-28 | 中国第一汽车股份有限公司 | 车辆定位方法、装置、设备及车辆 |
JP2022042630A (ja) | 2020-09-03 | 2022-03-15 | 本田技研工業株式会社 | 自己位置推定方法 |
CN113405545B (zh) * | 2021-07-20 | 2024-06-28 | 阿里巴巴创新公司 | 定位方法、装置、电子设备及计算机存储介质 |
CN114719843B (zh) * | 2022-06-09 | 2022-09-30 | 长沙金维信息技术有限公司 | 复杂环境下的高精度定位方法 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2976107B1 (fr) * | 2011-05-30 | 2014-01-03 | Commissariat Energie Atomique | Procede de localisation d'une camera et de reconstruction 3d dans un environnement partiellement connu |
US9148650B2 (en) * | 2012-09-17 | 2015-09-29 | Nec Laboratories America, Inc. | Real-time monocular visual odometry |
FR2998080A1 (fr) | 2012-11-13 | 2014-05-16 | France Telecom | Procede d'augmentation de la realite |
-
2016
- 2016-12-14 FR FR1662420A patent/FR3060115B1/fr active Active
-
2017
- 2017-12-13 EP EP17821992.9A patent/EP3555566A1/fr not_active Withdrawn
- 2017-12-13 WO PCT/FR2017/053551 patent/WO2018109384A1/fr unknown
- 2017-12-13 US US16/469,013 patent/US20190331496A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
FR3060115A1 (fr) | 2018-06-15 |
EP3555566A1 (fr) | 2019-10-23 |
US20190331496A1 (en) | 2019-10-31 |
WO2018109384A1 (fr) | 2018-06-21 |
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Legal Events
Date | Code | Title | Description |
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PLFP | Fee payment |
Year of fee payment: 2 |
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PLSC | Publication of the preliminary search report |
Effective date: 20180615 |
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Year of fee payment: 4 |
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PLFP | Fee payment |
Year of fee payment: 5 |
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PLFP | Fee payment |
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PLFP | Fee payment |
Year of fee payment: 8 |