Device and method for detection and localization of vehicles
AssigneeStarship Technologies Oü
InventorsKristjan KORJUS, Sergii KHARAGORGIIEV
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Abstract
The present invention relates to a method for determining a location of an object, the method comprising processing image data to determine a direction between a camera capturing an image and the object; processing additional data comprising at least one of map data and velocity sensor data; and combining information based on the image data and the additional data to arrive at a location of the object. The present invention also relates to a corresponding robot configured to carry out such a method.
Claims18
A method for determining a location of an object, the method comprising:
- processing image data to determine a direction between a camera capturing images and the object, wherein the images correspond to the image data;
- processing additional data comprising at least one of map data and velocity sensor data;
- and
- combining information based on the image data and the additional data to determine a location of the object,
- wherein the object is a moving vehicle, wherein the additional data comprises map data comprising data related to roads, wherein the step of combining the information to determine the location of the object comprises:
- determining at least one intersection between at least one road and a line corresponding to a direction between the camera and the object to arrive at a possible location of the object;
- wherein, in the step of determining at least one intersection, a plurality of intersections between the at least one road and lines are determined, wherein the at least one road is a plurality of roads, wherein the lines correspond to directions between the camera and the object for images captured at different points of time, to arrive at possible locations of the object for different points of time;
- and
- wherein the step of combining the information to determine the location of the object comprises:
- selecting a location of the possible locations as the location of the object, wherein this selection step comprises generating speed hypotheses for the object based on the possible locations at different points of time and selecting the location based on the most likely speed hypothesis for the object.
A method for determining a location of an object, the method comprising:
- processing image data to determine a direction between a camera capturing images and the object, wherein the images correspond to the image data;
- processing additional data comprising at least one of map data and velocity sensor data;
- and
- combining information based on the image data and the additional data to determine a location of the object,
- wherein the additional data comprises velocity sensor data;
- wherein the image data comprises a plurality of images captured at different points of time;
- wherein in the step of processing image data, a plurality of lines corresponding to directions between the camera and the object at different points of time are determined;
- and
- wherein in the step of combining information to determine a location of the object, at least one spatial vector is fitted in between the lines, which spatial vector depends on the velocity sensor data and a time difference between the different points of time.
Dependencies are inferred from the claim text.