Method and system for determining the position of a moving object
AssigneeDonecle
InventorAlban DERUAZ-PEPIN
Life of this patent
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Abstract
The invention relates to a method for determining the relative position of a moving object in relation to an environment modelled by a set of geometric surfaces that form a 3D model in accordance with a frame of reference in the environment, comprising a step (10) of measuring a plurality of distances from the object to the environment in at least one direction, so as to obtain a set of defined points in a frame of reference of the moving object, a step of evaluating a difference between said set of points and the 3D mesh of the environment, and a step (20) of determining the relative position of the moving object in the frame of reference of the environment from said difference.
Claims14
A method for determining the relative position of a moving object in relation to an environment modelled by a set of geometric surfaces that form a three-dimensional (3D) model in accordance with a frame of reference in the environment, comprising:
- measuring a plurality of distances from the object to the environment in at least one direction, so as to obtain a set of defined points in a frame of reference of the moving object,
- evaluating a difference between said set of points and the 3D model of the environment, and
- determining the relative position of the moving object in the frame of reference of the environment from said difference.
A method for navigating a moving object in an environment, comprising moving the moving object, and determining a position of the moving object in relation to an environment modelled by a set of geometric surfaces that form a three-dimensional (3D) model in accordance with a frame of reference in the environment, by:
- measuring a plurality of distances from the object to the environment in at least one direction, so as to obtain a set of defined points in a frame of reference of the moving object,
- evaluating a difference between said set of points and the 3D model of the environment, and
- determining the relative position of the moving object in the frame of reference of the environment from said difference.
A method for navigating a moving object in an environment, comprising moving the moving object, wherein a position of the moving object and positions of volumes corresponding to obstacles are determined in relation to an environment modelled by a set of geometric surfaces that form a three-dimensional (3D) model in accordance with a frame of reference in the environment by
- measuring a plurality of distances from the object to the environment in at least one direction, so as to obtain a set of defined points in a frame of reference of the moving object,
- evaluating a difference between said set of points and the 3D model of the environment, and,
- determining the relative position of the moving object in the frame of reference of the environment from said difference,
- wherein the points for which the norm of the point is greater than a predetermined threshold comprise isolated points, and are extracted from the point cloud, the method additionally comprising detecting an obstacle in which the close isolated points are grouped together to form volumes representing obstacles, and said volumes are recorded, and
- avoiding said volumes corresponding to obstacles.
A system for determining the relative position of a moving object in relation to an environment modelled by a 3D model in accordance with a frame of reference in the environment, which system is on board said moving object, the system comprising:
- a host computer with memory and at least one processor, and
- computer program instructions executing in the memory and enabled to perform:
- measuring a plurality of distances from the object to the environment in at least one direction, so as to obtain a set of defined points in a frame of reference of the moving object,
- for evaluating a difference between said set of points and the 3D model of the environment,
- determining the relative position of the moving object in the frame of reference of the environment from said difference.
(canceled)
A non-transitory computer-readable storage medium storing therein a computer program comprising a set of computer-executable instructions for implementing a method for navigating a moving object in an environment, comprising moving the moving object, and determining a position of the moving object in relation to an environment modelled by a set of geometric surfaces that form a three-dimensional (3D) model in accordance with a frame of reference in the environment comprising:
- measuring a plurality of distances from the object to the environment in at least one direction, so as to obtain a set of defined points in a frame of reference of the moving object,
- evaluating a difference between said set of points and the 3D model of the environment, and
- determining the relative position of the moving object in the frame of reference of the environment from said difference.
Dependencies are inferred from the claim text.