Localising a vehicle along a route

Patent metadata

Field	Value
Publication number	US-9464894-B2
Application number	US-201214348435-A
Country	US
Kind code	B2
Filing date	Sep 27, 2012
Priority date	Sep 30, 2011
Publication date	Oct 11, 2016
Grant date	Oct 11, 2016

Abstract

A method and apparatus are disclosed for localizing a vehicle along a route. The method comprises initially surveying the route to be traversed by the vehicle by creating a plurality of orthographic images of the route, at a plurality of locations along the route and subsequently passing the vehicle along the route while obtaining a current view of the route. The method further comprises resolving a pose of the vehicle relative to a survey trajectory by maximizing a relation between the orthographic images and the current view.

First claim

The invention claimed is:

1. A method for localizing a vehicle along a route, the method comprising:
surveying, by a survey vehicle, the route to be traversed by a subsequent vehicle by creating a plurality of orthographic images of the route with an image capture device mounted to the survey vehicle, at a plurality of locations along the route so as to define a survey vehicle trajectory;
subsequently passing the subsequent vehicle along the route while obtaining a current view image of the route with an image capture device mounted to the subsequent vehicle; and
resolving a pose of the subsequent vehicle relative to the survey trajectory by maximising a relation between the orthographic images and the current view image, wherein maximising a relation comprises maximising mutual information between the current view image and at least one of the orthographic images,
wherein maximising mutual information between the current view image and at least one of the orthographic images includes evaluating Shannon entropy of the current view image and the at least one of the orthographic images individually and jointly.

2. A method according to claim 1 , wherein creating the plurality of orthographic images of the route comprises creating a continuous, overhead image of the route.

3. A method according to claim 1 wherein creating the plurality of orthographic images comprises creating a continuous overhead image strip of the route.

4. A method according to claim 1 , further comprising:
storing at least the orthographic images in a repository, wherein the repository is remote and accessible to the subsequent vehicle by a wireless communication link.

5. A method according to claim 1 , further comprising:
storing at least the orthographic images in a repository, wherein the repository is available locally to the subsequent vehicle.

6. A method according to claim 1 , wherein the image capture device mounted to the survey vehicle includes a stereo camera.

7. A method according to claim 6 , wherein the stereo camera comprises at least a first and second imaging portion and the first imaging portion is arranged to image at least a portion of a route track and at least a portion of a route environment.

8. A method according to claim 7 , wherein the second imaging portion is arranged to image only the route track.

9. Apparatus for localizing a vehicle along a route, the apparatus comprising:
a camera for obtaining current view images of the route as the vehicle traverses the route;
a repository of previously captured orthographic images of the route, obtained during a survey of the route; and
a processor for resolving a pose of the vehicle along the route by processing the current view images obtained with the camera, with the previously captured orthographic images of the route, by maximising a relation between the previously captured orthographic images and the current view images, wherein maximising a relation comprises maximizing mutual information between the previously captured orthographic images and the current view images,
wherein maximising mutual information between the previously captured orthographic images and the current view images includes evaluating Shannon entropy of the previously captured orthographic images and the current view images individually and jointly.

10. Apparatus according to claim 9 , wherein the camera comprises a stereo camera.

11. A road vehicle capable of traversing the route and comprising the apparatus according to claim 9 .

12. A non-transitory computer program product comprising computer code that when executed by one or more processors causes a process for localizing a vehicle along a route to be carried out, the process comprising:
accessing a plurality of orthographic images of the route, the orthographic images previously captured at a plurality of locations along the route and defining a survey trajectory;
receiving, from an image capture device, a current view image of the route;
resolving a pose of the vehicle relative to the survey trajectory by maximising mutual information between the current view image and at least one of the previously captured orthographic images; and
providing guidance for the vehicle based on the resolved pose,
wherein maximising mutual information between the current view image and at least one of the previously captured orthographic images includes evaluating Shannon entropy of the current view image and the at least one of the previously captured orthographic images individually and jointly.

13. A computer program product according to claim 12 , wherein accessing the plurality of orthographic images of the route comprises creating a continuous, overhead image of the route.

14. A computer program product according to claim 12 , wherein accessing the plurality of orthographic images comprises creating a continuous overhead image strip of the route.

15. A computer program product according to claim 12 , wherein accessing the plurality of orthographic images comprises receiving the orthographic images from a repository by a wireless communication link.

16. A computer program product according to claim 12 , wherein the orthographic images are represented relative to a survey vehicle trajectory.

17. A computer program product according to claim 12 , wherein the orthographic images are previously created during a survey and are obtained with a stereo camera, mounted on a survey vehicle.

18. A computer program product according to claim 17 , wherein the stereo camera comprises at least a first and second imaging portion and the first imaging portion is arranged to image at least a portion of a route track and at least a portion of a route environment.

19. A method according to claim 1 , wherein maximising mutual information between the current view and the at least one of the orthographic images includes evaluating quantized image intensities of the current view and the at least one of the orthographic images.

20. A road vehicle capable of traversing the route and comprising the computer program product according to claim 12 .

21. A method according to claim 1 , wherein resolving the pose of the vehicle includes correcting for any rolling and pitching of the subsequent vehicle and the survey vehicle.

Assignees

• The Chancellor Masters And Scholars Of The Univ Of Oxford
• Bae Systems Plc

Inventors

• Napier Ashley Alan
• Newman Paul Michael

Classifications

• G01C21/005

  with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence) · CPC title

• G01C21/26

  specially adapted for navigation in a road network · CPC title

• G01C11/12 Primary

  the pictures being supported in the same relative position as when they were taken · CPC title

• G06T7/248

  involving reference images or patches · CPC title

• G06T7/204

  Physics · mapped topic