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 comprising:
- acquiring inertial sensor data describing movement of the object;
- acquiring a plurality of images of the environment;
- extracting geometric features of each of a plurality of coded visual markers located in the environment;
- predicting a position of each of the plurality of coded visual markers based on its respective geometric features;
- and
- determining a position of the object based on the inertial sensor data and the positions of each of the plurality of coded visual markers.
An apparatus for determining a position of an object located within an environment, 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 a plurality of images of the environment;
- extracting geometric features of each of a plurality of coded visual markers located in the environment;
- predicting a position of each of the plurality of coded visual markers based on its respective geometric features;
- and
- determining a position of the object based on the inertial sensor data and the positions of each of the plurality of coded visual markers.
A computer readable medium storing computer program instructions for determining a position of an object located within an environment, 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 a plurality of images of the environment;
- extracting geometric features of each of a plurality of coded visual markers located in the environment;
- predicting a position of each of the plurality of coded visual markers based on its respective geometric features;
- and
- determining a position of the object based on the inertial sensor data and the positions of each of the plurality of coded visual markers.
- predicting a position of a particular one of the three coded visual markers in one image of the set of images based on a respective geometric feature;
- and determining a position of the object using inertial sensor data in combination with the respective geometric feature.
Dependencies are inferred from the claim text.