Method and device for determining a position of a transportation vehicle
US-2019384310-A1 · Dec 19, 2019 · US
Vehicle, vehicle positioning system, and vehicle positioning method
US2020175720A1 · US · A1
| Field | Value |
|---|---|
| Publication number | US-2020175720-A1 |
| Application number | US-201916508471-A |
| Country | US |
| Kind code | A1 |
| Filing date | Jul 11, 2019 |
| Priority date | Nov 29, 2018 |
| Publication date | Jun 4, 2020 |
| Grant date | — |
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Abstract
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A vehicle, a vehicle positioning system and a vehicle positioning method are provided. The vehicle positioning system includes a 2D image sensor, a 3D sensor and a processor. The 2D image sensor is configured for obtaining 2D image data. The 3D sensor is configured for obtaining 3D point cloud data. The processor is coupled to the 2D image sensor and the 3D sensor, and configured for merging the 2D image data and the 3D point cloud data to generate 3D image data, identifying at least one static object from the 2D image data, obtaining 3D point cloud data of the static object from the 3D image data based on each one of the at least one static object, and calculating a vehicle relative coordinate of the vehicle based on the 3D point cloud data of the static object.
First claim
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What is claimed is: 1 . A vehicle positioning system, comprising: a 2D image sensor configured for obtaining 2D image data; a 3D sensor configured for obtaining 3D point cloud data; and a processor coupled to the 2D image sensor and the 3D sensor and at least configured to be applied to: an aligning module configured for merging the 2D image data and the 3D point cloud data to generate 3D image data; a static object identifying module configured for identifying at least one static object from the 2D image data to obtain 3D point cloud data of the static object from the 3D image data based on each one of the at least one static object; and a positioning module configured for calculating a vehicle relative coordinate of a vehicle based on the 3D point cloud data of the static object. 2 . The vehicle positioning system of claim 1 , wherein the vehicle relative coordinate maps to predefined map information stored in a storage circuit in advance to obtain 3D vehicle absolute coordinate of the vehicle. 3 . The vehicle positioning system of claim 1 , wherein the 3D point cloud data of the static object map to predefined map information stored in a storage circuit in advance to obtain 3D object absolute coordinate of the static object. 4 . The vehicle positioning system of claim 3 , wherein the positioning module calculates 3D vehicle absolute coordinate of the vehicle based on the 3D object absolute coordinate of the static object. 5 . The vehicle positioning system of claim 1 , wherein the 2D image sensor is a charge coupled element camera or a complementary metal oxide semiconductor camera. 6 . The vehicle positioning system of claim 1 , wherein the 3D sensor is a LiDAR sensor. 7 . A vehicle positioning method applicable to a vehicle positioning system, the vehicle positioning method comprising: obtaining 2D image data; obtaining 3D point cloud data; merging the 2D image data and the 3D point cloud data to generate 3D image data; identifying at least one static object from the 2D image data; obtaining 3D point cloud data of the static object from the 3D image data based on the static object; and calculating a vehicle relative coordinate of a vehicle based on the 3D point cloud data of the static object. 8 . The vehicle positioning method of claim 7 , further comprising mapping the vehicle relative coordinate to predefined map information stored in advance to obtain 3D vehicle absolute coordinate of the vehicle. 9 . The vehicle positioning method of claim 7 , further comprising mapping the 3D point cloud data of the static object to predefined map information stored in advance to obtain 3D object absolute coordinate of the static object. 10 . The vehicle positioning method of claim 9 , further comprising calculating 3D vehicle absolute coordinate of the vehicle based on the 3D object absolute coordinate of the static object. 11 . A vehicle equipped with a vehicle positioning system, the vehicle comprising: a 2D image sensor configured for obtaining 2D image data; a 3D sensor configured for obtaining 3D point cloud data; and a processor coupled to the 2D image sensor and the 3D sensor and configured to be applied to: an aligning module configured for merging the 2D image data and the 3D point cloud data to generate 3D image data; a static object identifying module configured for identifying at least one static object from the 2D image data to obtain 3D point cloud data of the static object from the 3D image data based on each one of the at least one static object; and a positioning module configured for calculating a vehicle relative coordinate of the vehicle based on the 3D point cloud data of the static object. 12 . The vehicle of claim 11 , wherein the vehicle relative coordinate maps to predefined map information stored in a storage circuit in advance to obtain 3D vehicle absolute coordinate of the vehicle. 13 . The vehicle of claim 11 , wherein the 3D point cloud data of the static object maps to predefined map information stored in a storage circuit in advance to obtain 3D object absolute coordinate of the static object. 14 . The vehicle of claim 13 , wherein the positioning module calculates 3D vehicle absolute coordinate of the vehicle based on the 3D object absolute coordinate of the static object. 15 . The vehicle of claim 11 , wherein the 2D image sensor is a charge coupled element camera or a complementary metal oxide semiconductor camera. 16 . The vehicle of claim 11 , wherein the 3D sensor is a LiDAR sensor.
Assignees
Inventors
Classifications
Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title
Mixing image signals · CPC title
Physics · mapped topic
Generating mixed stereoscopic images; Generating mixed monoscopic and stereoscopic images, e.g. a stereoscopic image overlay window on a monoscopic image background · CPC title
Vehicle exterior; Vicinity of vehicle · CPC title
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Frequently asked questions
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- What does patent US2020175720A1 cover?
- A vehicle, a vehicle positioning system and a vehicle positioning method are provided. The vehicle positioning system includes a 2D image sensor, a 3D sensor and a processor. The 2D image sensor is configured for obtaining 2D image data. The 3D sensor is configured for obtaining 3D point cloud data. The processor is coupled to the 2D image sensor and the 3D sensor, and configured for merging th…
- Who is the assignee on this patent?
- Ind Tech Res Inst
- What technology area does this patent fall under?
- Primary CPC classification G06T7/75. Mapped technology areas include Physics.
- When was this patent published?
- Publication date Thu Jun 04 2020 00:00:00 GMT+0000 (Coordinated Universal Time) (A1). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 3 related publications on this page (citations in our corpus or others sharing the same primary CPC).