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FR3060115B1 - Localisation d'un vehicule - Google Patents

Localisation d'un vehicule Download PDF

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Publication number
FR3060115B1
FR3060115B1 FR1662420A FR1662420A FR3060115B1 FR 3060115 B1 FR3060115 B1 FR 3060115B1 FR 1662420 A FR1662420 A FR 1662420A FR 1662420 A FR1662420 A FR 1662420A FR 3060115 B1 FR3060115 B1 FR 3060115B1
Authority
FR
France
Prior art keywords
location
data
vehicle
item
vision
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1662420A
Other languages
English (en)
Other versions
FR3060115A1 (fr
Inventor
Yoann Dhome
Mathieu Carrier
Vincent Gay-Bellile
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique CEA, Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique CEA
Priority to FR1662420A priority Critical patent/FR3060115B1/fr
Priority to US16/469,013 priority patent/US20190331496A1/en
Priority to EP17821992.9A priority patent/EP3555566A1/fr
Priority to PCT/FR2017/053551 priority patent/WO2018109384A1/fr
Publication of FR3060115A1 publication Critical patent/FR3060115A1/fr
Application granted granted Critical
Publication of FR3060115B1 publication Critical patent/FR3060115B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Multimedia (AREA)
  • Data Mining & Analysis (AREA)
  • Electromagnetism (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • General Engineering & Computer Science (AREA)
  • Evolutionary Computation (AREA)
  • Evolutionary Biology (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Artificial Intelligence (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Navigation (AREA)

Abstract

Procédé de localisation d'un véhicule comportant au moins un capteur de vision et au moins un équipement parmi une centrale inertielle, un module satellitaire de navigation et un capteur odométrique, le procédé comportant une étape de : - localisation par vision (E1) à partir de données d'images fournies par l'au moins un capteur de vision, pour produire des premières données de localisation, caractérisé en ce qu'il comporte une étape de : - filtrage bayésien (E2) prenant en compte les premières données de localisation, des données issues de l'au moins un équipement et des données d'un modèle de scène (MS), pour produire des secondes données de localisation du véhicule.
FR1662420A 2016-12-14 2016-12-14 Localisation d'un vehicule Active FR3060115B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR1662420A FR3060115B1 (fr) 2016-12-14 2016-12-14 Localisation d'un vehicule
US16/469,013 US20190331496A1 (en) 2016-12-14 2017-12-13 Locating a vehicle
EP17821992.9A EP3555566A1 (fr) 2016-12-14 2017-12-13 Localisation d'un vehicule
PCT/FR2017/053551 WO2018109384A1 (fr) 2016-12-14 2017-12-13 Localisation d'un vehicule

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1662420 2016-12-14
FR1662420A FR3060115B1 (fr) 2016-12-14 2016-12-14 Localisation d'un vehicule

Publications (2)

Publication Number Publication Date
FR3060115A1 FR3060115A1 (fr) 2018-06-15
FR3060115B1 true FR3060115B1 (fr) 2020-10-23

Family

ID=58779092

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1662420A Active FR3060115B1 (fr) 2016-12-14 2016-12-14 Localisation d'un vehicule

Country Status (4)

Country Link
US (1) US20190331496A1 (fr)
EP (1) EP3555566A1 (fr)
FR (1) FR3060115B1 (fr)
WO (1) WO2018109384A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109683618A (zh) * 2018-12-28 2019-04-26 广州中国科学院沈阳自动化研究所分所 一种航行信号识别系统及其识别方法
CN110967018B (zh) * 2019-11-25 2024-04-12 斑马网络技术有限公司 停车场定位方法、装置、电子设备及计算机可读介质
CN111596329A (zh) * 2020-06-10 2020-08-28 中国第一汽车股份有限公司 车辆定位方法、装置、设备及车辆
JP2022042630A (ja) 2020-09-03 2022-03-15 本田技研工業株式会社 自己位置推定方法
CN113405545B (zh) * 2021-07-20 2024-06-28 阿里巴巴创新公司 定位方法、装置、电子设备及计算机存储介质
CN114719843B (zh) * 2022-06-09 2022-09-30 长沙金维信息技术有限公司 复杂环境下的高精度定位方法
CN115143952B (zh) * 2022-07-12 2025-08-08 智道网联科技(北京)有限公司 基于视觉辅助的自动驾驶车辆定位方法、装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2976107B1 (fr) * 2011-05-30 2014-01-03 Commissariat Energie Atomique Procede de localisation d'une camera et de reconstruction 3d dans un environnement partiellement connu
US9148650B2 (en) * 2012-09-17 2015-09-29 Nec Laboratories America, Inc. Real-time monocular visual odometry
FR2998080A1 (fr) 2012-11-13 2014-05-16 France Telecom Procede d'augmentation de la realite

Also Published As

Publication number Publication date
WO2018109384A1 (fr) 2018-06-21
FR3060115A1 (fr) 2018-06-15
EP3555566A1 (fr) 2019-10-23
US20190331496A1 (en) 2019-10-31

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