公开(公告)号：US08855911B2

公开(公告)日：2014-10-07

申请号：US12963893

申请日：2010-12-09

申请人： Yunqian Ma ,  John B. McKitterick ,  Wesley J. Hawkinson

发明人： Yunqian Ma ,  John B. McKitterick ,  Wesley J. Hawkinson

IPC分类号： G01C21/16 ,  G01S5/16 ,  G01S5/02

CPC分类号： G01S5/0252 ,  G01S5/0263 ,  G01S5/16

摘要： Systems and methods for navigation using cross correlation on evidence grids are provided. In one embodiment, a system for using cross-correlated evidence grids to acquire navigation information comprises: a navigation processor coupled to an inertial measurement unit, the navigation processor configured to generate a navigation solution; a sensor configured to scan an environment; an evidence grid creator coupled to the sensor and the navigation processor, wherein the evidence grid creator is configured to generate a current evidence grid based on data received from the sensor and the navigation solution; a correlator configured to correlate the current evidence grid against a historical evidence grid stored in a memory to produce displacement information; and where the navigation processor receives correction data derived from correlation of evidence grids and adjusts the navigation solution based on the correction data.

摘要翻译： 提供了在证据网格上使用互相关的导航系统和方法。 在一个实施例中，一种用于使用相互关联的证据网格来获取导航信息的系统包括：与惯性测量单元耦合的导航处理器，所述导航处理器被配置为产生导航解决方案; 配置成扫描环境的传感器; 耦合到所述传感器和所述导航处理器的证据格网创建器，其中所述证据格网创建器被配置为基于从所述传感器和所述导航解决方案接收的数据来生成当前证据网格; 相关器，其被配置为将当前证据格栅与存储在存储器中的历史证据网格相关联以产生位移信息; 并且其中导航处理器接收从证据网格的相关性导出的校正数据，并且基于校正数据来调整导航解决方案。

公开(公告)号：US20120150441A1

公开(公告)日：2012-06-14

申请号：US12963893

申请日：2010-12-09

申请人： Yunqian Ma ,  John B. McKitterick ,  Wesley J. Hawkinson

发明人： Yunqian Ma ,  John B. McKitterick ,  Wesley J. Hawkinson

IPC分类号： G01C21/16

CPC分类号： G01S5/0252 ,  G01S5/0263 ,  G01S5/16

摘要： Systems and methods for navigation using cross correlation on evidence grids are provided. In one embodiment, a system for using cross-correlated evidence grids to acquire navigation information comprises: a navigation processor coupled to an inertial measurement unit, the navigation processor configured to generate a navigation solution; a sensor configured to scan an environment; an evidence grid creator coupled to the sensor and the navigation processor, wherein the evidence grid creator is configured to generate a current evidence grid based on data received from the sensor and the navigation solution; a correlator configured to correlate the current evidence grid against a historical evidence grid stored in a memory to produce displacement information; and where the navigation processor receives correction data derived from correlation of evidence grids and adjusts the navigation solution based on the correction data.

摘要翻译： 提供了在证据网格上使用互相关的导航系统和方法。 在一个实施例中，一种用于使用相互关联的证据网格来获取导航信息的系统包括：与惯性测量单元耦合的导航处理器，所述导航处理器被配置为产生导航解决方案; 被配置为扫描环境的传感器; 耦合到所述传感器和所述导航处理器的证据格网创建器，其中所述证据格网创建器被配置为基于从所述传感器和所述导航解决方案接收的数据来生成当前证据网格; 相关器，其被配置为将当前证据格栅与存储在存储器中的历史证据网格相关联以产生位移信息; 并且其中导航处理器接收从证据网格的相关性导出的校正数据，并且基于校正数据来调整导航解决方案。

公开(公告)号：US08676498B2

公开(公告)日：2014-03-18

申请号：US12889728

申请日：2010-09-24

申请人： Yunqian Ma ,  Wesley J. Hawkinson

发明人： Yunqian Ma ,  Wesley J. Hawkinson

IPC分类号： G01C21/10

CPC分类号： G01C21/165 ,  G01S5/16 ,  G05D1/0246 ,  G05D1/027

摘要： A navigation device is provided herein comprising an inertial measurement unit (IMU), a camera, and a processor. The IMU provides an inertial measurement to the processor and the camera provides at least one image frame to the processor. The processor is configured to determine navigation data based on the inertial measurement and the at least one image frame, wherein at least one feature is extracted from the at least one image frame based on the navigation data.

摘要翻译： 本文提供的导航装置包括惯性测量单元（IMU），照相机和处理器。 IMU向处理器提供惯性测量，并且相机向处理器提供至少一个图像帧。 处理器被配置为基于惯性测量和至少一个图像帧来确定导航数据，其中基于导航数据从至少一个图像帧中提取至少一个特征。

公开(公告)号：US20120078510A1

公开(公告)日：2012-03-29

申请号：US12889728

申请日：2010-09-24

申请人： Yunqian Ma ,  Wesley J. Hawkinson

发明人： Yunqian Ma ,  Wesley J. Hawkinson

IPC分类号： G01C21/16

CPC分类号： G01C21/165 ,  G01S5/16 ,  G05D1/0246 ,  G05D1/027

摘要： A navigation device is provided herein comprising an inertial measurement unit (IMU), a camera, and a processor. The IMU provides an inertial measurement to the processor and the camera provides at least one image frame to the processor. The processor is configured to determine navigation data based on the inertial measurement and the at least one image frame, wherein at least one feature is extracted from the at least one image frame based on the navigation data.

摘要翻译： 本文提供的导航装置包括惯性测量单元（IMU），照相机和处理器。 IMU向处理器提供惯性测量，并且相机向处理器提供至少一个图像帧。 处理器被配置为基于惯性测量和至少一个图像帧来确定导航数据，其中基于导航数据从至少一个图像帧中提取至少一个特征。

公开(公告)号：US08766975B2

公开(公告)日：2014-07-01

申请号：US13553281

申请日：2012-07-19

申请人： Benjamin Mohr ,  Yunqian Ma ,  Michael Ray Elgersma ,  John B. McKitterick

发明人： Benjamin Mohr ,  Yunqian Ma ,  Michael Ray Elgersma ,  John B. McKitterick

IPC分类号： G06T15/00 ,  G06F17/00 ,  G06T1/00

CPC分类号： G01C11/00 ,  G01C11/06 ,  G06T7/13 ,  G06T7/33 ,  G06T2207/10044 ,  G06T2207/30181

摘要： A method for navigation comprises constructing a current map that includes two-dimensional or three dimensional representations of an area, detecting one or more edge features on the current map, and generating a first fine-edge map based on the edge features. The method further comprises retrieving a historical map that includes two-dimensional or three dimensional representations of the area, detecting one or more edge features on the historical map, and generating a second fine-edge map based on the edge features. Thereafter, a coarse version of the current map is generated from the first fine-edge map, and a coarse version of the historical map is generated from the second fine-edge map. The coarse versions of the current and historical maps are then correlated to determine a first position and orientation. The first fine-edge map is then correlated with the second fine-edge map to determine a second, more accurate, position and orientation.

摘要翻译： 一种用于导航的方法包括构建包括区域的二维或三维表示的当前地图，检测当前地图上的一个或多个边缘特征，以及基于边缘特征生成第一细边图。 该方法还包括检索包括该区域的二维或三维表示的历史地图，检测历史地图上的一个或多个边缘特征，以及基于边缘特征生成第二细边图。 此后，从第一细边图生成当前地图的粗略版本，并且从第二细边图生成历史地图的粗略版本。 然后将当前和历史地图的粗略版本相关联以确定第一位置和方向。 然后将第一细边图与第二细边图相关联，以确定第二，更准确的位置和取向。

公开(公告)号：US20140022262A1

公开(公告)日：2014-01-23

申请号：US13553281

申请日：2012-07-19

申请人： Benjamin Mohr ,  Yunqian Ma ,  Michael Ray Elgersma ,  John B. McKitterick

发明人： Benjamin Mohr ,  Yunqian Ma ,  Michael Ray Elgersma ,  John B. McKitterick

IPC分类号： G06T15/00

CPC分类号： G01C11/00 ,  G01C11/06 ,  G06T7/13 ,  G06T7/33 ,  G06T2207/10044 ,  G06T2207/30181

摘要： A method for navigation comprises constructing a current map that includes two-dimensional or three dimensional representations of an area, detecting one or more edge features on the current map, and generating a first fine-edge map based on the edge features. The method further comprises retrieving a historical map that includes two-dimensional or three dimensional representations of the area, detecting one or more edge features on the historical map, and generating a second fine-edge map based on the edge features. Thereafter, a coarse version of the current map is generated from the first fine-edge map, and a coarse version of the historical map is generated from the second fine-edge map. The coarse versions of the current and historical maps are then correlated to determine a first position and orientation. The first fine-edge map is then correlated with the second fine-edge map to determine a second, more accurate, position and orientation.

摘要翻译： 一种用于导航的方法包括构建包括区域的二维或三维表示的当前地图，检测当前地图上的一个或多个边缘特征，以及基于边缘特征生成第一细边图。 该方法还包括检索包括该区域的二维或三维表示的历史地图，检测历史地图上的一个或多个边缘特征，以及基于边缘特征生成第二细边图。 此后，从第一细边图生成当前地图的粗略版本，并且从第二细边图生成历史地图的粗略版本。 然后将当前和历史地图的粗略版本相关联以确定第一位置和方向。 然后将第一细边图与第二细边图相关联，以确定第二，更准确的位置和取向。

公开(公告)号：US20130304383A1

公开(公告)日：2013-11-14

申请号：US13469356

申请日：2012-05-11

申请人： Vibhor L. Bageshwar ,  Yunqian Ma ,  Shrikant Rao

发明人： Vibhor L. Bageshwar ,  Yunqian Ma ,  Shrikant Rao

IPC分类号： G01C21/16

CPC分类号： G01C17/38 ,  G01C21/165 ,  G01C21/20

摘要： Systems and methods are provided for selecting landmarks for navigation. In one embodiment, a system comprises an IMU that provides inertial measurements for a vehicle and at least one image sensor that acquires measurements of the vehicle's environment. The system also comprises a processing unit that calculates a navigation solution for the vehicle based on the inertial measurements, identifies a plurality of landmarks in the acquired measurements, and identifies a plurality of usable landmarks from the plurality of landmarks. The processing unit also selects a subset of useable landmarks from the plurality of useable landmarks such that the subset of landmarks has a smaller dilution of precision (DOP) than other possible subsets of landmarks from the plurality of useable landmarks, and calculates an updated navigation solution from the subset of landmarks. The DOP is an amplification factor of measurement errors derived from the geometry of the subset of useable landmarks.

摘要翻译： 提供了系统和方法来选择用于导航的地标。 在一个实施例中，系统包括为车辆提供惯性测量的IMU和获取车辆环境的测量值的至少一个图像传感器。 该系统还包括一个处理单元，该处理单元基于惯性测量来计算车辆的导航解，识别所获取的测量中的多个地标，并从多个地标中识别出多个可用地标。 所述处理单元还从所述多个可用地标中选择可使用地标的子集，使得所述地标子集具有比来自所述多个可用地标的其他可能的地标子集更小的精度稀释（DOP），并计算更新的导航解 从地标的子集。 DOP是从可用地标的子集的几何导出的测量误差的放大因子。

公开(公告)号：US08467570B2

公开(公告)日：2013-06-18

申请号：US11562266

申请日：2006-11-21

申请人： Yunqian Ma ,  Qian Yu ,  Isaac Cohen

发明人： Yunqian Ma ,  Qian Yu ,  Isaac Cohen

IPC分类号： G06K9/00

CPC分类号： H04N7/18 ,  G06K9/00335 ,  G06K9/00785 ,  G06K9/4671 ,  G06K9/6218 ,  G06K9/6292

摘要： A detection system fusing motion detection and object detection for various applications such as tracking, identification, and so forth. In an application framework, model information may be developed and used to reduce the false alarm rate. With a background model, motion likelihood for each pixel, for instance, of a surveillance image, may be acquired. With a target model, object likelihood for each pixel of the image may also be acquired. By joining these two likelihood distributions, detection accuracy may be significantly improved over the use of just one likelihood distribution for detection in applications such as tracking.

摘要翻译： 一种检测系统，可以对诸如跟踪，识别等的各种应用进行融合运动检测和物体检测。 在应用框架中，可以开发模型信息并用于减少误报率。 使用背景模型，可以获取每个像素（例如监视图像）的运动似然性。 使用目标模型，也可以获取图像的每个像素的对象似然。 通过加入这两个似然分布，可以比在诸如跟踪的应用中仅使用一个似然分布进行检测来显着改善检测精度。

公开(公告)号：US20120243775A1

公开(公告)日：2012-09-27

申请号：US13053777

申请日：2011-03-22

申请人： Yunqian Ma ,  Benjamin Mohr

发明人： Yunqian Ma ,  Benjamin Mohr

IPC分类号： G06K9/00

CPC分类号： G06T7/593 ,  G06T2207/10021 ,  G06T2207/10032 ,  G06T2207/30181 ,  G06T2207/30252

摘要： A method for wide baseline feature matching comprises capturing one or more images from an image sensor on each of two or more platforms when the image sensors have overlapping fields of view, performing a 2-D feature extraction on each of the captured images in each platform using local 2-D image feature descriptors, and calculating 3-D feature locations on the ellipsoid of the Earth surface from the extracted features using a position and attitude of the platform and a model of the image sensor. The 3-D feature locations are updated using digital terrain elevation data (DTED) as a constraint, and the extracted features are matched using the updated 3-D feature locations to create a common feature zone. A subset of features from the common feature zone is selected, and the subset of features is inputted into a collaborative filter in each platform. A convergence test is then performed on other subsets in the common feature zone, and falsely matched features are pruned from the common feature zone.

摘要翻译： 用于宽基线特征匹配的方法包括：当图像传感器具有重叠视场时，在两个或多个平台中的每一个上从图像传感器捕获一个或多个图像，在每个平台中的每个捕获图像上执行2-D特征提取 使用局部二维图像特征描述符，并使用平台的位置和姿态以及图像传感器的模型，从提取的特征中计算地球表面椭球上的3-D特征位置。 使用数字地形高程数据（DTED）作为约束来更新3-D特征位置，并且使用更新的3-D特征位置来匹配提取的特征以创建公共特征区域。 选择来自公共特征区域的特征的子集，并且将特征子集输入到每个平台中的协作过滤器中。 然后在公共特征区域中的其他子集上执行收敛测试，并且从公共特征区域修剪错误匹配的特征。

公开(公告)号：US07925112B2

公开(公告)日：2011-04-12

申请号：US11680347

申请日：2007-02-28

申请人： Yunqian Ma ,  Isaac Cohen ,  Ben A. Miller

发明人： Yunqian Ma ,  Isaac Cohen ,  Ben A. Miller

IPC分类号： G06K9/64 ,  G06K9/62

CPC分类号： G06K9/00771

摘要： Video data matching includes both a single region of data and sequences of regions of data. In an embodiment, a video processing system selects, from a first matrix row corresponding to a test appearance model, one or more other appearance models as a function of similarity measures populating the first matrix row. After selection of the one or more other appearance models, the system then selects, from other matrix rows corresponding to the one or more other appearance models selected in the first step, one or more additional appearance models as a function of the similarity measures populating the other matrix rows. The system then ranks the appearance models selected from the first matrix row and the other matrix rows.

摘要翻译： 视频数据匹配包括数据的单个区域和数据区域的序列。 在一个实施例中，视频处理系统从对应于测试外观模型的第一矩阵行中选择作为填充第一矩阵行的相似性度量的函数的一个或多个其他外观模型。 在选择一个或多个其他外观模型之后，系统然后从与第一步骤中选择的一个或多个其他外观模型相对应的其他矩阵行中选择一个或多个附加外观模型作为填充相似度度量的函数 其他矩阵行。 然后，该系统对从第一矩阵行和其他矩阵行中选择的外观模型进行排序。