Vehicle localisation using the ground surface with an event camera
US11365966B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jul 19, 2017 |
| Grant date | Jun 21, 2022 |
| Priority date | — |
| Expiry date | Aug 14, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method for estimating vehicle location by obtaining change events from an event camera's observations of a ground surface moving relative to the vehicle, determining a signature of the ground surface from the change events; and estimating the location using the signature. The change events may be processed to produce an 1st invariant representation of a ground surface patch for use as the signature. Alternatively, range measurements representing a patch may be used as the signature. A map is constructed having the representations of the ground surface patches including the locations of the patches. The same patch of ground surface is subsequently measured thereby obtaining a sequence of change events which are processed to produce a 2nd representation. The 2nd representation is matched to the map of 1st invariant representations. The location of the vehicle on the ground is determined based on the match.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.