Industrial vehicles with overhead light based localization
US9170581B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 29, 2014 |
| Grant date | Oct 27, 2015 |
| Priority date | — |
| Expiry date | Sep 29, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
According to the embodiments described herein, a method for environmental based localization may include capturing an input image of a ceiling comprising a plurality of skylights. Features can be extracted from the input image. The features can be grouped into a plurality of feature groups such that each of the feature groups is associated with one of the skylights. Line segments can be extracted from the features of each feature group, automatically, with one or more processors executing a feature extraction algorithm on each feature group separately. At least two selected lines of the line segments of each feature groups can be selected. A centerline for each of the feature groups can be determined based at least in part upon the two selected lines. The center line of each of the feature groups can be associated with one of the skylights.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.