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US 11,893,896 B2Granted
Systems and methods for determining an angle and a shortest distance between longitudinal axes of a travel way line and a vehicle
AssigneeHoneywell Aerospace SAS
InventorsMichal Dobes, Radek Baranek, Milos Sotak, Vijay Venkataraman, Vibhor L Bageshwar, Zdenek Kana
Life of this patent
Estimating the term…
Abstract
Systems and methods are described that illustrate how to determine whether an image includes a travel way, and if so how to determine an angle between a longitudinal axis of a vehicle and a longitudinal axis of a travel way line, and a shortest distance between a reference point on a vehicle and a longitudinal axis of the travel way line.
Claims20
A method, comprising:
- receiving a captured image;
- transforming the captured image to an inverse perspective image;
- receiving imager calibration parameter values including intrinsic imager calibration parameters, and extrinsic imager calibration parameters;
- determining whether a travel way line candidate is detected in the inverse perspective image;
- upon detecting the travel way line candidate in the inverse perspective image, then determining whether the detected travel way line candidate satisfies a first set of travel way line criteria defining a travel way line;
- upon determining that the travel way line candidate satisfies the criteria, then determining a longitudinal axis of the detected travel way line candidate;
- determining an angle (φ) between a longitudinal axis of a vehicle and the determined longitudinal axis of the detected travel way line candidate, and a shortest distance (d) between a reference point on or in the vehicle or projected onto a surface and the determined longitudinal axis of the detected travel way line candidate;
- and
- determining a value of variances for each of the angle (φ) and the shortest distance (d),
- wherein the value of variances are determined using Jacobian transformation matrices, sensor parameters used to obtain the inverse perspective image, measurement error equations, and parameters of the detected travel way line candidate;
- wherein the measurement error equations determine estimated measurement errors (err) for the shortest distance (d) and the angle (φ), wherein the measurement error equations are:
- err d=(Jd*CovMat*JdT)1/2
- err φ=(Jφ*CovMat*JφT)1/2
- where Jd and Jφ are Jacobian matrices for the shortest distance (d) and the angle (φ), respectively, and CovMat is a covariance matrix;
- wherein the Jacobian matrices for the shortest distance (d) and the angle (φ) are computed using errors in the intrinsic imager calibration parameters, errors in the extrinsic imager calibration parameters, and errors in the parameters of the detected travel way line candidate;
- wherein the value of variances are part of measurement statistics used by a navigation filter in the vehicle to estimate kinematic state statistics of the vehicle.
13 more elements
A program product comprising a non-transitory processor readable medium on which program instructions are embodied, wherein the program instructions are configured, when executed by at least one programmable processor, to cause the at least one programmable processor to:
- receive a captured image;
- transform the captured image to an inverse perspective image;
- receive imager calibration parameter values including intrinsic imager calibration parameters, and extrinsic imager calibration parameters;
- determine whether a travel way line candidate is detected in the inverse perspective image;
- upon detecting the travel way line candidate in the inverse perspective image, then determine whether the detected travel way line candidate satisfies a first set of travel way line criteria defining a travel way line;
- upon determining that the travel way line candidate satisfies the criteria, then determine a longitudinal axis of the detected travel way line candidate;
- determine an angle (φ) between a longitudinal axis of a vehicle and the determined longitudinal axis of the detected travel way line candidate, and a shortest distance (d) between a reference point on or in the vehicle or projected onto a surface and the determined longitudinal axis of the detected travel way line candidate;
- and
- determine a value of variances for each of the angle (φ) and the shortest distance (d),
- wherein the value of variances are determined using Jacobian transformation matrices, sensor parameters used to obtain the inverse perspective image, measurement error equations, and parameters of the detected travel way line candidate;
- wherein the measurement error equations determine estimated measurement errors (err) for the shortest distance (d) and the angle (φ), wherein the measurement error equations are:
- err d=(Jd*CovMat*JdT)1/2
- err φ=(Jφ*CovMat*JφT)1/2
- where Jd and Jφ are Jacobian matrices for the shortest distance (d) and the angle (φ), respectively, and CovMat is a covariance matrix;
- wherein the Jacobian matrices for the shortest distance (d) and the angle (φ) are computed using errors in the intrinsic imager calibration parameters, errors in the extrinsic imager calibration parameters, and errors in the parameters of the detected travel way line candidate;
- wherein the value of variances are part of measurement statistics used by a navigation filter in the vehicle to estimate kinematic state statistics of the vehicle.
13 more elements
A system configured to be mounted at least one of on a vehicle and in a vehicle, comprising:
- processing circuitry;
- an imager configured to capture an image and communicatively coupled to the processing circuitry;
- and
- wherein the processing circuitry is configured to:
- receive a captured image;
- transform the captured image to an inverse perspective image;
- receive imager calibration parameter values including intrinsic imager calibration parameters, and extrinsic imager calibration parameters;
- determine whether a travel way line candidate is detected in the inverse perspective image;
- upon detecting the travel way line candidate in the inverse perspective image, then determine whether the detected travel way line candidate satisfies a first set of travel way line criteria defining a travel way line;
- upon determining that the travel way line candidate satisfies the criteria, then determine a longitudinal axis of the detected travel way line candidate;
- determine an angle (φ) between a longitudinal axis of a vehicle and the determined longitudinal axis of the detected travel way line candidate, and a shortest distance (d) between a reference point on or in the vehicle or projected onto a surface and the determined longitudinal axis of the detected travel way line candidate;
- and
- determine a value of variances for each of the angle (φ) and the shortest distance (d);
- wherein the value of variances are determined using Jacobian transformation matrices, sensor parameters used to obtain the inverse perspective image, measurement error equations, and parameters of the detected travel way line candidate;
- wherein the measurement error equations determine estimated measurement errors (err) for the shortest distance (d) and the angle (φ), wherein the measurement error equations are:
- err d=(Jd*CovMat*JdT)1/2
- err φ=(Jφ*CovMat*JφT)1/2
- where Jd and Jφ are Jacobian matrices for the shortest distance (d) and the angle (φ), respectively, and CovMat is a covariance matrix;
- wherein the Jacobian matrices for the shortest distance (d) and the angle (φ) are computed using errors in the intrinsic imager calibration parameters, errors in the extrinsic imager calibration parameters, and errors in the parameters of the detected travel way line candidate;
- wherein the value of variances are part of measurement statistics used by a navigation filter in the vehicle to estimate kinematic state statistics of the vehicle.
17 more elements
Dependencies are inferred from the claim text.