公开(公告)号：US09082008B2

公开(公告)日：2015-07-14

申请号：US13692436

申请日：2012-12-03

Applicant: Honeywell International Inc.

Inventor： Yunqian Ma ,  Benjamin Mohr ,  Christopher Jon Visker

IPC: G06K9/00 ,  G01C21/00 ,  G01C21/16 ,  G01C21/36 ,  G06T7/00

CPC classification number: G06K9/00476 ,  G01C21/005 ,  G01C21/165 ,  G01C21/3602 ,  G06K9/00214 ,  G06K9/00791 ,  G06T7/73 ,  G06T2207/10028 ,  G06T2207/30252

Abstract: Systems and methods for feature selection and matching are provided. In certain embodiments, a method for matching features comprises extracting a first plurality of features from current image data acquired from at least one sensor and extracting a second plurality of features from a prior map, wherein the prior map represents an environment containing the navigation system independently of data currently acquired by the at least one sensor. The method also comprises identifying at least one first feature in the first plurality of features and at least one second feature in the second plurality of features that have associated two-dimensional representations; and identifying at least one corresponding pair of features by comparing a three-dimensional representations of the at least one first feature to a three-dimensional representation of the at least one second feature.

Abstract translation: 提供了功能选择和匹配的系统和方法。 在某些实施例中，用于匹配特征的方法包括从从至少一个传感器获取的当前图像数据中提取第一多个特征并从先前的图提取第二多个特征，其中先前的映射表示独立地包含导航系统的环境 由至少一个传感器当前获取的数据。 该方法还包括识别第一多个特征中的至少一个第一特征以及具有相关二维表示的第二多个特征中的至少一个第二特征; 以及通过将所述至少一个第一特征的三维表示与所述至少一个第二特征的三维表示进行比较来识别至少一个对应的特征。

公开(公告)号：US20140153788A1

公开(公告)日：2014-06-05

申请号：US13692436

申请日：2012-12-03

Applicant: HONEYWELL INTERNATIONAL INC.

Inventor： Yunqian Ma ,  Benjamin Mohr ,  Christopher Jon Visker

IPC: G06K9/00

CPC classification number: G06K9/00476 ,  G01C21/005 ,  G01C21/165 ,  G01C21/3602 ,  G06K9/00214 ,  G06K9/00791 ,  G06T7/73 ,  G06T2207/10028 ,  G06T2207/30252

Abstract: Systems and methods for feature selection and matching are provided. In certain embodiments, a method for matching features comprises extracting a first plurality of features from current image data acquired from at least one sensor and extracting a second plurality of features from a prior map, wherein the prior map represents an environment containing the navigation system independently of data currently acquired by the at least one sensor. The method also comprises identifying at least one first feature in the first plurality of features and at least one second feature in the second plurality of features that have associated two-dimensional representations; and identifying at least one corresponding pair of features by comparing a three-dimensional representations of the at least one first feature to a three-dimensional representation of the at least one second feature.

Abstract translation: 提供了功能选择和匹配的系统和方法。 在某些实施例中，用于匹配特征的方法包括从从至少一个传感器获取的当前图像数据中提取第一多个特征并从先前的图提取第二多个特征，其中先前的映射表示独立地包含导航系统的环境 由至少一个传感器当前获取的数据。 该方法还包括识别第一多个特征中的至少一个第一特征以及具有相关二维表示的第二多个特征中的至少一个第二特征; 以及通过将所述至少一个第一特征的三维表示与所述至少一个第二特征的三维表示进行比较来识别至少一个对应的特征。