Movable Object Localization with Environment-Adaptive Reference Images
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Solution Overview
Problem
The accuracy of matching between registration images and observation images is reduced in varying environments, such as different weather conditions or times of day, which affects the precision of self-position estimation for vehicles.
Innovation Solution
A method and apparatus that generate a dynamic reference image based on estimated environmental conditions and a reference image from a map, allowing for improved position estimation of a movable object by adjusting the reference image to match the observation image, thereby enhancing matching accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If matching is performed between registration image and observation image in varying environments, then position estimation can be performed, but matching accuracy is significantly reduced
Solution Approach 1:
The patent generates a dynamic reference image by adjusting the registration image according to detected environmental conditions (weather, time of day, seasonal changes). This dynamic adjustment allows the reference image to adapt to varying environments while maintaining matching accuracy, resolving the contradiction between static reference images and environmental variability.
Solution Approach 2:
The system changes parameters of the reference image based on environmental detection results. By modifying image parameters (such as lighting conditions, weather effects, temporal characteristics) to match current environmental conditions, the system maintains high matching accuracy across different environments without requiring multiple pre-captured registration images.
2Area of stationary object
If multiple registration images are captured at different positions and postures to improve coverage, then map data completeness is improved, but data processing complexity increases
Solution Approach 1:
The patent creates a single dynamic reference image that can serve multiple purposes across different environmental conditions. Instead of maintaining separate registration images for each condition, the system uses one adaptable reference image that adjusts to various scenarios, reducing data storage and processing requirements while maintaining comprehensive coverage.
Data Source
AI summary
There is provided methods and apparatus for estimating a position of a movable object. A dynamic reference image is generated based on an environment and a reference image extracted from a map. A position of the movable object is estimated based on the dynamic reference image and an observation image of an area around the movable object.