公开(公告)号：US20100114416A1

公开(公告)日：2010-05-06

申请号：US12261683

申请日：2008-10-30

申请人： KWONG WING AU ,  Alan B. Touchberry ,  Brian VanVoorst ,  JON SCHEWE

发明人： KWONG WING AU ,  Alan B. Touchberry ,  Brian VanVoorst ,  JON SCHEWE

IPC分类号： G05D1/00 ,  G01C3/08

CPC分类号： G01C21/165 ,  G05D1/024 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0213

摘要： A system and method for providing information for autonomous vehicle navigation are disclosed. The system comprises at least one laser scanner configured to perform one or more range and intensity scans of an area around the autonomous vehicle, and a geo-location unit comprising one or more global positioning system sensors and inertial navigation system sensors. The system also includes at least one processor in operative communication with the laser scanner and the geo-location unit. The processor is configured to execute one or more program modules comprising a ground plane-based processing module configured to receive range scan data transformed into world coordinates, and output ground plane-based classification data; a range-based processing module configured to receive data from a single range scan, and output range-based classification data; an intensity-based processing module configured to receive intensity scan data, and output intensity-based classification data; and a classification fusion module configured to receive the classification data from each of the processing modules, and output range bin classification data.

摘要翻译： 公开了一种用于提供自主车辆导航信息的系统和方法。 该系统包括至少一个激光扫描器，其被配置为执行自主车辆周围区域的一个或多个范围和强度扫描，以及包括一个或多个全球定位系统传感器和惯性导航系统传感器的地理位置单元。 该系统还包括与激光扫描仪和地理位置单元操作性通信的至少一个处理器。 所述处理器被配置为执行一个或多个程序模块，所述程序模块包括基于接地层的处理模块，所述处理模块被配置为接收被变换为世界坐标的范围扫描数据，并且输出基于接地平面的分类数据; 配置为从单个范围扫描接收数据的基于范围的处理模块，以及输出基于范围的分类数据; 基于强度的处理模块，被配置为接收强度扫描数据，以及输出基于强度的分类数据; 以及分类融合模块，被配置为从每个处理模块接收分类数据，以及输出范围仓分类数据。

公开(公告)号：US20100030473A1

公开(公告)日：2010-02-04

申请号：US12182774

申请日：2008-07-30

申请人： KWONG WING AU ,  JON SCHEWE

发明人： KWONG WING AU ,  JON SCHEWE

IPC分类号： G08G1/16 ,  G05D1/00

CPC分类号： G06K9/00791 ,  G01S17/023 ,  G01S17/936

摘要： A method and system provide road and obstacle detection in navigating an autonomous vehicle. The method comprises scanning a distance ahead of the autonomous vehicle to obtain a current range scan, and obtaining navigation data, including dynamics, position, and orientation measurements of the autonomous vehicle. The current range scan is transformed to world coordinates with respect to a reference location based on the navigation data, and the transformed current range scan is input into a distance-based accumulator. The transformed current range scan is added to a variable size buffer when the autonomous vehicle is deemed to be non-stationary. A ground plane is estimated from the transformed current range scan and prior range scans stored in the variable size buffer. The estimated ground plane is represented as a constrained quadratic surface, which is classified into one or more of a traversable area, a non-traversable area, or an obstacle area for navigation of the autonomous vehicle.

摘要翻译： 一种方法和系统在驾驶自主车辆时提供道路和障碍物检测。 该方法包括扫描自主车辆前方的距离以获得电流范围扫描，并且获得包括自主车辆的动力学，位置和姿态测量的导航数据。 基于导航数据，将当前范围扫描转换为相对于参考位置的世界坐标，并将变换的电流范围扫描输入到基于距离的累加器中。 当自动车辆被认为是非静止时，变换的电流范围扫描被添加到可变大小的缓冲器。 从存储在可变大小缓冲器中的变换的电流范围扫描和先前范​​围扫描估计接地层。 估计的接地面被表示为约束二次曲面，其被分类为自动车辆的导航的可行驶区域，不可行驶区域或障碍物区域中的一个或多个。

公开(公告)号：US20110050894A1

公开(公告)日：2011-03-03

申请号：US12549115

申请日：2009-08-27

申请人： JAN JELINEK ,  KWONG WING AU

发明人： JAN JELINEK ,  KWONG WING AU

IPC分类号： H04N7/18 ,  G08B17/10

CPC分类号： G08B17/125

摘要： A smoke detector includes processing circuitry coupled to a camera. The field of view of the camera contains one or more targets, each having spatial indicia thereon. The processing circuitry collects a sequence of spatial frequency measures, such as contrast indicating parameters. Members of the sequence can be compared to at least one reference spatial frequency measure to establish the presence of smoke between the target and the camera.

摘要翻译： 烟雾探测器包括耦合到相机的处理电路。 相机的视野包含一个或多个目标，每个目标具有其上的空间标记。 处理电路收集空间频率测量序列，例如对比度指示参数。 可以将序列的成员与至少一个参考空间频率测量进行比较，以确定目标和相机之间存在烟雾。