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US 11,687,091 B2Granted
Visual localization and mapping in low light conditions
AssigneeStarship Technologies Oü
InventorRasmus Raag
Life of this patent
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Abstract
A method comprises generating a map comprising day-time features and night-time features, wherein the position of night-time features relative to the day-time features is determined by at least one image captured during twilight. The invention also relates to a corresponding processing unit configured to execute such a method.
Claims20
A method comprising:
- generating a map comprising daytime features and nighttime features,
- wherein a position of nighttime features relative to the daytime features is determined by at least one image captured during twilight,
- the method further comprising:
- capturing the at least one image during twilight and extracting twilight visual features from the at least one image captured during twilight, wherein the twilight visual features comprise twilight straight lines and/or twilight urban lights,
- finding at least one commonality between the twilight straight lines and the daytime features;
- aligning the twilight visual features with daytime features using the at least one commonality between the twilight straight lines and the daytime features;
- finding at least one commonality between the twilight urban lights and the nighttime features;
- aligning twilight visual features with nighttime features using the at least one commonality between the twilight urban lights and the nighttime features;
- and
- aligning at least one of the twilight visual features with (i) at least one daytime feature that is not present in the twilight image, and/or (ii) at least one nighttime feature that is not present in the twilight image.
7 more elements
A method comprising:
- obtaining (i) at least one daytime image captured during daylight and comprising one or more daytime features, (ii) at least one nighttime image captured during nighttime and comprising one or more nighttime features, and (iii) at least one twilight image captured during twilight, said at least one twilight image comprising one or more twilight visual features;
- generating a map comprising at least some of said one or more daytime features and at least some of said one or more nighttime features, said generating comprising:
- determining a position of a nighttime feature of said one or more nighttime features relative to a daytime feature of said one or more daytime features based on at least some of said one or more twilight visual features;
- finding at least one commonality between the twilight straight lines and the daytime features;
- aligning one or more of the twilight visual features with one or more of the daytime features in the map based on the at least one commonality between one or more twilight straight lines and the daytime features;
- finding at least one commonality between the twilight urban lights and the nighttime features;
- aligning one or more of the twilight visual features with the one or more nighttime features in the map based on at least one commonality between one or more twilight urban lights and the nighttime features;
- and
- determining alignment in the map of:
- (i) at least one daytime feature and/or (ii) at least one nighttime feature that was not present in the at least one image captured at twilight.
7 more elements
A method comprising:
- extracting twilight visual features from at least one twilight image captured during twilight, wherein the twilight visual features comprise twilight straight lines and/or twilight urban lights;
- extracting daytime features from at least one day image captured during the day;
- extracting nighttime features from at least one nighttime image captured at night;
- and
- generating a map comprising at least some of said daytime features and at least some of said nighttime features, said generating comprising:
- determining a position in said map of nighttime features relative to the daytime features based on the extracted twilight visual features,
- finding at least one commonality between the twilight straight lines and the daytime features,
- aligning the twilight visual features with daytime features in the map using the at least one commonality between the twilight straight lines and the daytime features,
- finding at least one commonality between the twilight urban lights and the nighttime features,
- aligning twilight visual features with nighttime features in the map using the at least one commonality between the twilight urban lights and the nighttime features,
- determining at least one alignment between a twilight visual feature and a feature in the map based on a feature not present in the twilight visual features.
8 more elements
Dependencies are inferred from the claim text.