Method and system for video-based positioning and mapping
A series, camera position technology, applied in the field of video-based positioning and mapping and system, can solve the problem of non-functional requirements of mapping and positioning system
Pending Publication Date: 2019-07-26
TOMTOM GLOBAL CONTENT +1
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[0016] Mapping and positioning systems also face non-functional requirements, and none of the state-of-the-art methods can achieve these together with the previously described functional requirements
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[0157] The present invention generally relates to providing improved techniques for determining the geographic location and orientation of observers (vehicles), for example within a road network covered by pre-built maps. In an embodiment, the present invention thus relates to techniques for large-scale visual geolocation and mapping, as will be explained below. The positioning technology of the present invention can be used, for example, to facilitate various autonomous driving functionalities or to augment or generate improved electronic maps, for example, for use in conjunction with autonomous driving. For example, as explained above, autonomous driving typically requires the use of maps that provide at least information about the geometry of the lane the vehicle is in, e.g., lane centerlines and lane connectivity (rather than just road centerlines, as can be provided in standard digital maps). , eg, for use by standard portable navigation devices, eg, for use by non-autono...
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A method and system for determining a geographical location and orientation of a vehicle travelling through a road network is disclosed. The method comprises obtaining, from one or more cameras associated with the vehicle travelling through the road network, a sequence of images reflecting the environment of the road network on which the vehicle is travelling, wherein each of the images has an associated camera location at which the image was recorded. A local map representation representing an area of the road network on which the vehicle is travelling is then generated using at least some ofthe obtained images and the associated camera locations. The generated local map representation is compared with a section of a reference map, the reference map section covering the area of the roadnetwork on which the vehicle is travelling, and the geographical location and orientation of the vehicle within the road network is determined based on the comparison. Methods and systems for generating and / or updating an electronic map using data obtained by a vehicle travelling through a road network represented by the map are also disclosed.
Description
technical field [0001] The present invention relates to a method and system for determining the geographic location and orientation of an observer, such as a vehicle traveling along a road network. Furthermore, a method and system for generating and / or updating an electronic map (ie, for mapping) is provided. In an embodiment, a visual global positioning and mapping system may be provided. Background technique [0002] Navigation and motion planning are key components of highly automated and autonomous driving. Autonomous vehicles need to be able to automatically position themselves around the world to determine guidelines for safety measures. On the one hand, maps are needed to allow positioning on a global scale to solve route planning via GNSS. On the other hand, for functions such as lane keeping and following traffic signs, an accurate geometric representation of the immediate environment is required. Conventionally, this is addressed by either temporarily sensing t...
Claims
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IPC IPC(8): G01C21/32G06F16/29G06F16/583
CPCG06V20/588G06V20/582G06V10/267G06T7/74G06T7/75G06F16/583G06F16/587G01C21/32G01C21/3859G01C21/3848G01C21/3811G06T2207/10016G06T2207/30256G06F16/29G06T2207/30252G06T7/11G06T2207/30244G06V20/56
Inventor T·甘金厄P·霍尔茨什奈德D·沙赫曼S·曼S·伊勒费尔德M·霍夫曼O·博伊N·莱亚尔·韦尔内克
Owner TOMTOM GLOBAL CONTENT