公开(公告)号：US09218529B2

公开(公告)日：2015-12-22

申请号：US13610507

申请日：2012-09-11

申请人： Christopher L. Lewis ,  William C. Flannigan ,  Michael O. Blanton ,  Douglas A. Brooks

发明人： Christopher L. Lewis ,  William C. Flannigan ,  Michael O. Blanton ,  Douglas A. Brooks

IPC分类号： G06F19/00 ,  G06K9/00 ,  G06T15/00 ,  G06T17/05

CPC分类号： G06K9/0063 ,  G06K9/00208 ,  G06K9/00671 ,  G06K9/00791 ,  G06T15/00 ,  G06T17/05

摘要： A system and method for estimating a location of an object or vehicle is provided. Images of a region encompassing the object are obtained, providing a three dimensional (3-D) view frame of the region. 3-D view frames are collected along a direction of travel of the object. A 3-D map is generated along the direction of travel of the object, the map based on the 3-D view frames and further based on an estimate of motion of the object at times associated with the 3-D view frames. A first set of features is extracted from the 3-D map. A geo-referenced feature database is searched for a second set of features that match the first set of features. A geo-location associated with the second set of features is retrieved from the feature database. The location of the object is estimated based on the retrieved geo-location.

摘要翻译： 提供了一种用于估计物体或车辆的位置的系统和方法。 获得包围对象的区域的图像，提供该区域的三维（3-D）视图帧。 沿对象的行进方向收集3-D视图帧。 沿着物体的行进方向，基于3-D视图帧的地图，并且还基于与3-D视图帧相关联的时间的对象的运动的估计，生成3-D地图。 从3-D图中提取第一组特征。 搜索地理参考的特征数据库以搜索与第一组特征匹配的第二组特征。 从特征数据库检索与第二组特征相关联的地理位置。 基于检索的地理位置来估计对象的位置。