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GB2569404A8 - Positioning method and apparatus - Google Patents

Positioning method and apparatus Download PDF

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Publication number
GB2569404A8
GB2569404A8 GB1801399.5A GB201801399A GB2569404A8 GB 2569404 A8 GB2569404 A8 GB 2569404A8 GB 201801399 A GB201801399 A GB 201801399A GB 2569404 A8 GB2569404 A8 GB 2569404A8
Authority
GB
United Kingdom
Prior art keywords
vehicle
information
depth information
depth
reference object
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.)
Granted
Application number
GB1801399.5A
Other versions
GB2569404A (en
GB201801399D0 (en
GB2569404B (en
Inventor
Jiang Qifeng
Peng Jing
Zhang Weibin
Qu Zhengwei
Liu Xiaobing
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.)
Xihua University
Original Assignee
Xihua University
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 Xihua University filed Critical Xihua University
Publication of GB201801399D0 publication Critical patent/GB201801399D0/en
Publication of GB2569404A publication Critical patent/GB2569404A/en
Publication of GB2569404A8 publication Critical patent/GB2569404A8/en
Application granted granted Critical
Publication of GB2569404B publication Critical patent/GB2569404B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Traffic Control Systems (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

Positioning a vehicle which comprises a positioning terminal, the positioning terminal featuring a GPS positioner, a 3D geographic information model, as well as a camera and a laser range finder installed on the vehicle. A current precise location of the vehicle is obtained from the three-dimensional geographic information model, the GPS positioner and a two-dimensional image captured by the camera S110. A reference object from the 2D image is identified and depth information of the reference object is acquired, from depth image information collected by the laser range finder, as first depth information. From the precise vehicle location and the first depth information a precise location of the reference object is calculated and recorded S120. If the resolution of the captured two-dimensional image is lower than a preset resolution, a last recorded reference object is acquired as a target object S130 and second depth information, based on the first depth information, for the target object is acquired from current depth image information. A current precise location of the vehicle is determined from the second depth information, the precise location of the target object, and the GPS positioner S140.
GB1801399.5A 2017-12-13 2018-01-29 Positioning method and apparatus Expired - Fee Related GB2569404B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711325973.2A CN108151750B (en) 2017-12-13 2017-12-13 Positioning method and device

Publications (4)

Publication Number Publication Date
GB201801399D0 GB201801399D0 (en) 2018-03-14
GB2569404A GB2569404A (en) 2019-06-19
GB2569404A8 true GB2569404A8 (en) 2019-07-10
GB2569404B GB2569404B (en) 2020-06-24

Family

ID=61558229

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1801399.5A Expired - Fee Related GB2569404B (en) 2017-12-13 2018-01-29 Positioning method and apparatus

Country Status (2)

Country Link
CN (1) CN108151750B (en)
GB (1) GB2569404B (en)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110706194B (en) * 2018-06-21 2021-07-06 北京三快在线科技有限公司 A positioning method, device and mobile device
CN108846111B (en) * 2018-06-22 2020-04-24 阿里巴巴集团控股有限公司 Method and device for detecting correctness of position of shop
CN110780665B (en) * 2018-07-26 2022-02-08 比亚迪股份有限公司 Vehicle unmanned control method and device
CN111238494B (en) * 2018-11-29 2022-07-19 财团法人工业技术研究院 Carrier, carrier positioning system and carrier positioning method
CN111862146B (en) * 2019-04-30 2023-08-29 北京魔门塔科技有限公司 Target object positioning method and device
CN110674327A (en) * 2019-09-17 2020-01-10 异起(上海)智能科技有限公司 More accurate positioning method and device
CN110737276B (en) * 2019-11-06 2023-03-31 达闼机器人股份有限公司 Early warning method, patrol robot and computer readable storage medium
CN113256715B (en) * 2020-02-12 2024-04-05 北京京东乾石科技有限公司 Positioning method and device for robot
CN112255658B (en) * 2020-10-28 2024-03-26 湖南聚沙信息技术有限公司 Method, device and medium for counting number of vehicle running turns based on GPS positioning points
CN112700403A (en) * 2020-12-09 2021-04-23 国网宁夏电力有限公司检修公司 Charged interval false-entry prevention detection method, medium and system
DE102020134119B3 (en) * 2020-12-18 2021-12-23 Audi Aktiengesellschaft Method for localizing a motor vehicle in an assistance card, motor vehicle, computer program and electronically readable data carrier
CN114692712A (en) * 2020-12-28 2022-07-01 炬星科技（深圳）有限公司 Object positioning and identifying method and device, electronic equipment and storage medium
CN113296512B (en) * 2021-05-24 2022-10-04 福建盛海智能科技有限公司 Unmanned tracking driving method and terminal based on laser radar and GPS
CN113465607A (en) * 2021-06-30 2021-10-01 上海西井信息科技有限公司 Port vehicle positioning method, port vehicle positioning device, electronic equipment and storage medium
CN113932793B (en) * 2021-09-24 2024-03-22 江门职业技术学院 Three-dimensional coordinate positioning method, three-dimensional coordinate positioning device, electronic equipment and storage medium
CN116051616B (en) * 2021-10-28 2024-07-23 北京三快在线科技有限公司 Depth measurement method, device, storage medium and electronic equipment
CN118711379B (en) * 2024-08-29 2025-01-24 每日互动股份有限公司 A method, device, equipment and medium for correcting the position of a bayonet device

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7660436B2 (en) * 2003-06-13 2010-02-09 Sarnoff Corporation Stereo-vision based imminent collision detection
JP2010190647A (en) * 2009-02-17 2010-09-02 Mitsubishi Electric Corp Vehicle position measuring instrument and vehicle position measuring program
JP5355443B2 (en) * 2010-02-15 2013-11-27 三菱電機株式会社 Position correction system
WO2013029675A1 (en) * 2011-08-31 2013-03-07 Metaio Gmbh Method for estimating a camera motion and for determining a three-dimensional model of a real environment
CN104715471B (en) * 2014-01-03 2018-01-02 杭州海康威视数字技术股份有限公司 Target locating method and its device
GB2513738A (en) * 2014-05-08 2014-11-05 Daimler Ag Method for determining a position of a vehicle by a navigation system of the vehicle
CN104236540B (en) * 2014-06-24 2017-06-23 上海大学 indoor passive navigation locating method

Also Published As

Publication number Publication date
GB2569404A (en) 2019-06-19
GB201801399D0 (en) 2018-03-14
CN108151750B (en) 2020-04-14
GB2569404B (en) 2020-06-24
CN108151750A (en) 2018-06-12

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PCNP Patent ceased through non-payment of renewal fee

Effective date: 20240129