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Patent Searching and Data


Title:
METHOD FOR THE SELF-LOCATION OF VEHICLES
Document Type and Number:
WIPO Patent Application WO/2017/161401
Kind Code:
A1
Abstract:
For the self-location of vehicles on the basis of stereo vision, images from at least two cameras mounted statically on the vehicle are successively recorded and read, with disparity or depth information being computed from the recorded images and the proper motion being inferred from the distance difference between the same objects in different images. According to the invention, the disparity or depth information is interpreted as images, disparity or depth clusters are extracted therefrom and these disparity or depth clusters are found again in the subsequent images. In this case, it is expedient to compute a ground plane as a disparity or depth value image, to raise said ground plane mathematically somewhat and to form the difference between the ground plane as a disparity or depth value image and the disparity or depth information before the disparity or depth information is compared. This hides the ground plane, which contains no useful information.

Inventors:
PESCHAK, Bernhard (Wienerstraße 62, 3701 Großweikersdorf, 3701, AT)
WÖBER, Wilfried (Krötzlergasse 8, 1110 Wien, 1110, AT)
OTREBSKI, Richard (Josef-Kreitmeier-Gasse 10, 2482 Münchendorf, 2482, AT)
Application Number:
AT2017/060076
Publication Date:
September 28, 2017
Filing Date:
March 24, 2017
Export Citation:
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Assignee:
PAS GMBH (Wienerstr. 62, 3701 Großweikersdorf, 3701, AT)
International Classes:
G06K9/00
Other References:
WEI BAO ET AL: "Self-localization of Mobile Robot Based on Binocular Camera and Unscented Kalman Filter", AUTOMATION AND LOGISTICS, 2007 IEEE INTERNATIONAL CONFERENCE ON, IEEE, PISCATAWAY, NJ, USA, 1 August 2007 (2007-08-01), pages 277 - 281, XP031138778, ISBN: 978-1-4244-1531-1
DAVID J BRAUNEGG: "Location Recognition using stereo vision", 1 October 1989 (1989-10-01), XP055377059, Retrieved from the Internet [retrieved on 20170530]
R TERRY DUNLAY ET AL: "Obstacle avoidance on roadways using range data", 1 January 1986 (1986-01-01), XP055377821, Retrieved from the Internet [retrieved on 20170601]
ZHONGEI ZHANG ET AL: "Qualitative obstacle detection", IEEE COMPUTER SOCIETY CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION. PROCEED, IEEE COMPUTER SOCIETY, US, 21 June 1994 (1994-06-21), pages 554 - 559, XP010099330, ISSN: 1063-6919, DOI: 10.1109/CVPR.1994.323881
Attorney, Agent or Firm:
MÜLLNER, Martin et al. (169Weihburggasse 9, 1010 Wien, 1010 Wien, 1010, AT)
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