Apparatus and method for providing vehicular positioning
AssigneeTopcon Positioning Systems, Inc.
InventorsDmitry Vitalievich Tatarnikov, Leonid Valerianovich Edelman, Aleksandr Aleksandrovich Pimenov, Michail Nikolaevich Smirnov, Nikolay Aleksandrovich Penkrat
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Abstract
A vehicular positioning system utilizing multiple optical cameras having contiguous fields of view for reading coded markers having pre-determined positions for determining the position of vehicle inside a structure with a high degree of accuracy. The vehicle positioning system provides for the direct installation and use of a positioning apparatus on a vehicle with a limited number of coded markers to determine the vehicle's position to within millimeter level accuracy.
Claims20
A method for determining a position of an object in an environment having a plurality of coded visual markers each at a corresponding known location, the method comprising:
- acquiring inertial sensor data describing movement of the object;
- acquiring, at the object, a plurality of images of the environment;
- predicting a region of interest at which a coded visual marker appears for each image;
- extracting from each image geometric features of a respective coded visual marker based on the position region of interest;
- and
- determining the position of the object based on the inertial sensor data, the extracted geometric features, and the known location of the coded visual marker.
An apparatus for determining a position of an object in an environment having a plurality of coded visual markers each at a corresponding known location, the apparatus comprising:
- a processor;
- and
- a memory coupled with the processor, the memory having a program that stores computer program instructions that when executed cause the processor to perform operations comprising:
- acquiring inertial sensor data describing movement of the object;
- acquiring, at the object, a plurality of images of the environment;
- predicting a region of interest at which a coded visual marker appears for each image;
- extracting from each image geometric features of a respective coded visual marker based on the predicted region of interest;
- and
- determining the position of the object based on the inertial sensor data, the extracted geometric features, and the known location of the coded visual marker.
A non-transitory computer readable medium storing computer program instructions for determining a position of an object located within an environment having a plurality of coded visual markers each at a corresponding known location, the computer program instructions, when executed on a processor, cause the processor to perform operations comprising:
- acquiring inertial sensor data describing movement of the object;
- acquiring, at the object, a plurality of images of the environment;
- predicting a region of interest at which a coded visual marker appears for each image;
- extracting from each image geometric features of a respective coded visual marker based on the predicted region of interest;
- and
- determining the position of the object based on the inertial sensor data, the extracted geometric features, and the known location of the coded visual marker.
Dependencies are inferred from the claim text.