Environmental reasoning using geometric data structure
AssigneeHonda Motor Co., Ltd.
InventorsRakesh Gupta, Jie Gao
Life of this patent
Estimating the term…
Abstract
A method of representing spatial relations among objects in the environment uses a Delaunay triangulation as the data structure to store the spatial relations when the objects are represented in the form of simplified objects such as cuboids. The method receives image data corresponding to the environment and recognizes the objects in the image data, and updates the Delaunay triangulation so that the Delaunay triangulation is consistent with the recognized objects. Furthermore, a proximity query can be carried out using the Delaunay triangulation.
Claims35
A method of representing for an observer a spatial relation among objects in an environment in the form of data corresponding to a Delaunay triangulation, the objects being represented by corresponding simplified objects having a volume, the method comprising:
- receiving image data corresponding to the environment;
- recognizing the objects in the image data;
- determining whether Voronoi vertices corresponding to an object of interest are valid;
- and
- updating the Delaunay triangulation for each invalid Voronoi vertex after motion relative to the environment, such that the Delaunay triangulation is consistent with the recognized objects, the motion relative to the environment caused by at least one of observer motion, addition of a new object to the environment, change of location of an existing object, or change of extent of an existing object.
A computer program product for representing for an observer a spatial relation among objects in an environment in the form of a Delaunay triangulation, the objects being represented by corresponding simplified objects having a volume, the computer program product stored on a computer readable medium and adapted to perform a method comprising:
- receiving image data corresponding to the environment;
- recognizing the objects in the image data;
- determining whether Voronoi vertices corresponding to an object of interest are valid;
- and
- updating the Delaunay triangulation for each invalid Voronoi vertex after motion relative to the environment, such that the Delaunay triangulation is consistent with the recognized objects, the motion relative to the environment caused by at least one of observer motion, addition of a new object to the environment, change of location of an existing object, or change of extent of an existing object.
A system for representing for an observer a spatial relation among objects in an environment in the form of a Delaunay triangulation, the objects being represented by corresponding simplified objects having a volume, the system comprising:
- a data input module for receiving image data corresponding to the environment and recognizing the objects in the image data;
- and
- a Delaunay triangulation module for determining whether Voronoi vertices corresponding to an object of interest are valid, and updating the Delaunay triangulation for each invalid Voronoi vertex after motion relative to the environment, such that the Delaunay triangulation is consistent with the recognized objects, the motion relative to the environment caused by at least one of observer motion, addition of a new object to the environment, change of location of an existing object, or change of extent of an existing object.
Dependencies are inferred from the claim text.