Vehicle Localization Using Cameras
AssigneeFord Global Technologies, LLC
InventorsSarah Houts, Alexandru Mihai Gurghian, Vidya Nariyambut Murali, Tory Smith
Life of this patent
Estimating the term…
Abstract
According to one embodiment, a system for determining a position of a vehicle includes an image sensor, a top-down view component, a comparison component, and a location component. The image sensor obtains an image of an environment near a vehicle. The top-down view component is configured to generate a top-down view of a ground surface based on the image of the environment. The comparison component is configured to compare the top-down image with a map, the map comprising a top-down light LIDAR intensity map or a vector-based semantic map. The location component is configured to determine a location of the vehicle on the map based on the comparison.
Claims20
A method comprising:
- segmenting a ground plane from an image captured by a camera based on a stereo pair of images captured by the camera, wherein the stereo pair of images comprise a set of points in three-dimensional space;
- generating a top-down view of the ground plane based on the image;
- comparing the top-down view of the ground plane with a map;
- and
- determining a location of the camera on the map based on the comparison of the top-down view of the ground plane and the map.
A system for localizing a vehicle, the system comprising:
- an image sensor to obtain an image of an environment near the vehicle;
- and
- a processor that is programmable to execute instructions stored in non-transitory computer readable storage media, the instructions comprising:
- segmenting a ground plane from the image captured by the image sensor based on a stereo pair of images captured by the image sensor, wherein the stereo pair of images comprise a set of points in three-dimensional space;
- generating a top-down view of the ground plane based on the image;
- comparing the top-down view of the ground plane with a map;
- and
- determining a location of the vehicle on the map based on the comparison of the top-down view of the ground plane and the map.
Non-transitory computer readable storage media storing instructions to be executed by one or more processors, the instructions comprising:
- segmenting a ground plane from an image captured by a camera based on a stereo pair of images captured by the camera, wherein the stereo pair of images comprise a set of points in three-dimensional space;
- generating a top-down view of the ground plane based on the image;
- comparing the top-down view of the ground plane with a map;
- and
- determining a location of the camera on the map based on the comparison of the top-down view of the ground plane and the map.
Dependencies are inferred from the claim text.