公开(公告)号：US06262760B1

公开(公告)日：2001-07-17

申请号：US09219941

申请日：1998-12-23

Applicant: Martin S. Glassman ,  Russell E. Gorr ,  Thomas R. Hancock ,  Stephen J. Judd ,  Carol L. Novak ,  Barak P. Pearlmutter ,  Scott T. Rickard, Jr.

Inventor： Martin S. Glassman ,  Russell E. Gorr ,  Thomas R. Hancock ,  Stephen J. Judd ,  Carol L. Novak ,  Barak P. Pearlmutter ,  Scott T. Rickard, Jr.

IPC: H04N736

CPC classification number: G01C15/00 ,  H04N7/181

Abstract: A reflective rotund lens is positioned for projecting a panoramic picture of its horizontal surroundings at a given elevation onto a CCD array, for converting the picture into “pixel form” or an image signal. The image signal is digitized via an A/D converter circuit. A digital signal processor system is programmed for extracting a strip of pixel locations representative of an image ring mapped to pixel locations via superimposition upon the image, whereby all pixel locations outside of the image ring are eliminated by passing the pixels thereof through said A/D converter circuit at a rate higher than the conversion rate of said A/D converter circuit.

Abstract translation: 定位反射圆形透镜，用于将给定高度的水平环境的全景图像投影到CCD阵列上，用于将图像转换为“像素形式”或图像信号。 图像信号通过A / D转换电路进行数字化。 数字信号处理器系统被编程用于通过叠加在图像上来提取表示映射到像素位置的图像环的像素位置的条带，由此通过使其像素通过所述A / D来消除图像环外的所有像素位置 转换器电路的速率高于所述A / D转换器电路的转换速率。

公开(公告)号：US5961571A

公开(公告)日：1999-10-05

申请号：US364160

申请日：1994-12-27

Applicant: Russell E. Gorr ,  Thomas R. Hancock ,  J. Stephen Judd ,  Long-Ji Lin ,  Carol L. Novak ,  Scott T. Rickard, Jr.

Inventor： Russell E. Gorr ,  Thomas R. Hancock ,  J. Stephen Judd ,  Long-Ji Lin ,  Carol L. Novak ,  Scott T. Rickard, Jr.

IPC: G01S3/783 ,  G01S5/00 ,  G05D1/02 ,  G06K9/00 ,  G06F165/00

CPC classification number: G06K9/00791 ,  G01S3/783 ,  G01S5/00 ,  G05D1/0246 ,  G05D1/0272 ,  G06K9/00664

Abstract: A system for automatically tracking the location of a vehicle includes a visual image detector mounted on the vehicle for producing as the vehicle moves along a route digitized strips of image data representing successive panoramic views of scenery about the vehicle at respective locations along the route. A sparse tracking subsystem processes and stores only selected ones of the image data strips representing substantially spaced apart successive locations along the route, for use as a sparse database. A dense tracking subsystem processes and stores as a dense database every successive one of the image data strips representing location along the route, whereby the dense tracking subsystem provides more accurate location of the vehicle when it retraces some portion of the route than the sparse tracking subsystem. After the sparse and dense databases are established, the location of the vehicle in real time as it retraces the route is performed by the dense tracking subsystem matching current image data strips from the visual image detector with the dense database strips to determine the location of the vehicle, as long as the vehicle stays on the pre-established route. If the vehicles strays from the route, the system senses the deviation and switches to the sparse tracking system to search a broader area in less time than the dense tracking system to attempt to relocate the vehicle along the route, after which the system switches back to the dense tracking subsystem.

Abstract translation: 用于自动跟踪车辆位置的系统包括安装在车辆上的视觉图像检测器，用于随着车辆沿着路线沿着路线沿着路线在相应位置处沿着路线数字化的图像数据条表示代表连续的关于车辆的景观的全景图。 稀疏跟踪子系统处理并存储沿着路线表示基本上间隔开的连续位置的图像数据带中的所选择的一个，用作稀疏数据库。 密集跟踪子系统处理和存储每个连续的一个图像数据带中的密集数据，表示沿着路线的位置，由此密集跟踪子系统在回溯路径的某些部分比稀疏跟踪子系统时提供更准确的位置 。 在建立稀疏和密集的数据库之后，通过密集跟踪子系统利用密集数据库条带从视觉图像检测器匹配当前图像数据条来执行车辆在重新路线时的实时位置，以确定该位置 车辆，只要车辆停留在预先建立的路线上。 如果车辆从路线偏离，则系统感测到偏差，并切换到稀疏跟踪系统，以比密集跟踪系统更少的时间搜索更广泛的区域，以尝试沿着路线重新定位车辆，之后系统切换回 密集跟踪子系统。

公开(公告)号：US5642106A

公开(公告)日：1997-06-24

申请号：US364880

申请日：1994-12-27

Applicant: Thomas R. Hancock ,  Stephen J. Judd ,  Carol L. Novak ,  Scott T. Rickard, Jr.

Inventor： Thomas R. Hancock ,  Stephen J. Judd ,  Carol L. Novak ,  Scott T. Rickard, Jr.

IPC: G01C21/12 ,  G08G1/123

CPC classification number: G01C21/12

Abstract: A visual gyroscope system for detecting turns and straight line travel of a vehicle includes a visual image detector mounted on the vehicle, for producing sequential and successive digitized image data strips containing information identifying scenery about the vehicle at associated successive locations along the route travelled, A processor is programmed to extract from image detector each successive pair of image data strips, and rotate the second occurring strip of each pair until it matches the first occurring strip to obtain the incremental rotation and direction of rotation of the vehicle in its travel between strips. The incremental rotations between strips are accumulated and summed to obtain the total rotation upon completion of a turn, and along with the direction of rotation, identification of a right turn, left turn, u-turn, or straight line travel. Dead reckoning navigation is also provided via the inclusion of an odometer, for providing distance readings for the distance travelled between each successive image data strip.

Abstract translation: 用于检测车辆的转弯和直线行驶的视觉陀螺仪系统包括安装在车辆上的视觉图像检测器，用于产生顺序和连续的数字化图像数据带，其包含沿着所行驶的路线的相关联的连续位置识别关于车辆的风景的信息 处理器被编程为从图像检测器中提取每个连续的一对图像数据条带，并且旋转每对的第二出现的条，直到它匹配第一发生的条，以获得车辆在其间的行进中的旋转的增量旋转和旋转方向。 条带之间的增量旋转被累加并相加以在转弯完成时获得总旋转，以及旋转方向，右转，左转，转弯或直线行进的识别。 还通过包含里程表提供航位推算导航，用于为每个连续图像数据条之间的距离提供距离读数。

公开(公告)号：US5920337A

公开(公告)日：1999-07-06

申请号：US759920

申请日：1996-12-04

Applicant: Martin S. Glassman ,  Russell E. Gorr ,  Thomas R. Hancock ,  Stephen J. Judd ,  Carol L. Novak ,  Barak A. Pearlmutter ,  Scott T. Rickard, Jr.

Inventor： Martin S. Glassman ,  Russell E. Gorr ,  Thomas R. Hancock ,  Stephen J. Judd ,  Carol L. Novak ,  Barak A. Pearlmutter ,  Scott T. Rickard, Jr.

IPC: G01C15/00 ,  H04N7/18

CPC classification number: G01C15/00 ,  H04N7/181

Abstract: A reflective rotund lens is positioned for projecting a panoramic picture of its horizontal surroundings at a given elevation onto a CCD array, for converting the picture into "pixel form" or an image signal. The image signal is digitized via an A/D converter circuit. A digital signal processor system is programmed for extracting a strip of pixel locations representative of an image ring mapped to pixel locations via superimposition upon the image, whereby all pixel locations outside of the image ring are eliminated by passing the pixels thereof through said A/D converter circuit at a rate higher than the conversion rate of the A/D converter circuit.

Abstract translation: 定位反射圆形透镜，用于将给定高度的水平环境的全景图像投影到CCD阵列上，用于将图像转换为“像素形式”或图像信号。 图像信号通过A / D转换电路进行数字化。 数字信号处理器系统被编程用于通过叠加在图像上来提取表示映射到像素位置的图像环的像素位置的条带，由此通过使其像素通过所述A / D来消除图像环外的所有像素位置 转换器电路的速率高于A / D转换器电路的转换速率。