# US 2013/0155222 A1 · Apparatus and method for recognizing location of vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2013/0155222 A1 - Document ID: US20130155222A1 - Status: Published application - Kind: A1 - Application number: 13/601,625 - Filed: 2012-08-31 - Published: 2013-06-20 - Earliest claimed: 2011-12-14 - Assignees: Electronics and Telecommunications Research Institute - Inventors: Kyoung-Wook MIN; Jeong-Dan Choi - Web page: https://patentgrep.com/patent/US20130155222A1 ## CPC - G01C 21/3602: {Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera} - G06V 20/582: {of traffic signs} - G01C 21/26: specially adapted for navigation in a road network - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract Disclosed herein are an apparatus and method for recognizing the location of a vehicle. The apparatus includes a landmark recognition unit, a distance recognition unit, and a vehicle location calculation unit. The landmark recognition unit receives information about images of landmarks, indicated around a road in a direction in which the vehicle is traveling, from an image sensor, and recognizes a reference landmark closest to the vehicle based on the image information. The distance recognition unit collects values of distances to the reference landmark from the range sensor. The vehicle location calculation unit calculates the final location of the vehicle based on basic information about the reference landmark and the distance values. ## Claims ### Claim 1 An apparatus for recognizing a location of a vehicle, comprising: a landmark recognition unit for receiving information about images of landmarks, indicated around a road in a direction in which the vehicle is traveling, from an image sensor, and recognizing a reference landmark closest to the vehicle based on the image information; a distance recognition unit for collecting values of distances to the reference landmark from the range sensor; and a vehicle location calculation unit for calculating a final location of the vehicle based on basic information about the reference landmark and the distance values. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the landmark recognition unit searches a landmark information table for information about a location of the reference landmark, and calculates range angles with respect to the reference landmark based on a location of the image sensor. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the basic information about the reference landmark comprises the location information and range angles of the reference landmark. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein the distance recognition unit controls the range sensor using the location information and the range angles of the reference landmark as parameters. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the vehicle location calculation unit calculates a representative distance value based on the distance values, and calculates a location value of the range sensor based on the location information and range angles of the reference landmark and the representative distance value. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the vehicle location calculation unit calculates the final location of the vehicle by using the location value of the range sensor and a distance to a center point of the vehicle. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the vehicle location calculation unit calculates heading information, including a heading angle and heading direction of the vehicle, based on information about the final location of the vehicle and information about a previously calculated final location of the vehicle. ### Claim 8 (depends on 2) The apparatus of claim 2, wherein the landmark information table comprises global coordinates of points at which the landmarks are located. ### Claim 9 A method of recognizing a location of a vehicle, comprising: receiving information about images of landmarks indicated around a road in a direction in which the vehicle travels, from an image sensor; recognizing a reference landmark closest to the vehicle based on the image information; collecting values of distances to the reference landmark from a range sensor; and calculating a final location of the vehicle based on basic information about the reference landmark and the distance values. ### Claim 10 (depends on 9) The method of claim 9, wherein the recognizing the reference landmark comprises: selecting a landmark shown as being largest in the image information, as the reference landmark; searching a landmark information table for information about a location of the reference landmark; and calculating range angles with respect to the reference landmark based on the image sensor. ### Claim 11 (depends on 10) The method of claim 10, wherein the collecting the distance values comprises: controlling the range sensor using the location information and range angles of the reference landmark as parameters; and collecting the values of the distances to the reference landmark which have been scanned by the range sensor. ### Claim 12 (depends on 11) The method of claim 11, wherein the basic information about the reference landmark comprises the location information and the range angles of the reference landmark. ### Claim 13 (depends on 10) The method of claim 10, wherein the calculating the final location of the vehicle comprises: calculating a representative distance value based on the distance values; calculating a location value of the range sensor based on the location information and range angles of the reference landmark and the representative distance value; and calculating the final location of the vehicle by using the location value of the range sensor and a distance to a center point of the vehicle. ### Claim 14 (depends on 13) The method of claim 13, wherein the calculating the final location of the vehicle further comprises calculating heading information, comprising a heading angle and heading direction of the vehicle, based on information about the final location of the vehicle and information about a previously calculated final location of the vehicle. ### Claim 15 (depends on 10) The method of claim 10, wherein the landmark information table comprises global coordinates of points at which the landmarks are located.