Range finding
AssigneeTeknologian tutkimuskeskus VTT Oy
InventorsPasi Pyykönen, Pertti Peussa, Ari Virtanen, Matti Kutila
Life of this patent
Estimating the term…
Abstract
According to an example aspect of the present invention, there is provided an apparatus configured at least to store information defining a set of reference areas, each reference area having a location, shape and geographic size, obtain range finding data which comprises plural data items, each data item having a location and a magnitude, allocate at least a part of the data items to the set of reference areas such that magnitudes of data items with locations in a same reference area are summed, and apply a threshold to select from among the reference areas a second set of reference areas with integrated magnitudes in excess of the threshold.
Claims17
An apparatus comprising at least one processing core, at least one memory including computer program code, the at least one memory and the computer program code being configured to, with the at least one processing core, cause the apparatus at least to:
- store information defining a set of reference areas, each reference area having a location, shape and geographic size;
- obtain range finding data which comprises plural data items, each data item having a location;
- allocate at least a part of the data items to the set of reference areas such that data items with locations in a same reference area are summed, wherein
- each data item has a magnitude indicating a strength of a reflection as recorded by a range finding device, the summing of the data items comprises summing their magnitudes to obtain integrated magnitudes, the apparatus is configured to apply a threshold to select from among the reference areas a second set of reference areas with the integrated magnitudes in excess of the threshold, and
- match locations of reference areas of the second set to known landmark locations, and employ the second set of reference areas in vehicular landmark-based navigation.
A method performed by an apparatus, comprising:
- storing information defining a set of reference areas, each reference area having a location, shape and geographic size;
- obtaining range finding data which comprises plural data items, each data item having a location, and
- allocating at least a part of the data items to the set of reference areas such that data items with locations in a same reference area are summed, wherein
- each data item has a magnitude indicating a strength of a reflection as recorded by a range finding device, the summing of the data items comprises summing their magnitudes to obtain integrated magnitudes, the method further comprises applying a threshold to select from among the reference areas a second set of reference areas with the integrated magnitudes in excess of the threshold, and
- matching locations of reference areas of the second set to known landmark locations, and employing the second set of reference areas in vehicular landmark-based navigation.
A non-transitory computer readable medium having stored thereon a set of computer readable instructions that, when executed by at least one processor, cause an apparatus to at least:
- store information defining a set of reference areas, each reference area having a location, shape and geographic size;
- obtain range finding data which comprises plural data items, each data item having a location, and
- allocate at least a part of the data items to the set of reference areas such that data items with locations in a same reference area are summed, wherein
- each data item has a magnitude indicating a strength of a reflection as recorded by a range finding device, the summing of the data items comprises summing their magnitudes to obtain integrated magnitudes, the set of computer readable instructions, when executed, further cause the apparatus to apply a threshold to select from among the reference areas a second set of reference areas with the integrated magnitudes in excess of the threshold, match locations of reference areas of the second set to known landmark locations, and employ the second set of reference areas in vehicular landmark-based navigation.
Dependencies are inferred from the claim text.