Systems and methods for refining landmark positions

Patent metadata

Field	Value
Publication number	US-9939813-B2
Application number	US-201615273190-A
Country	US
Kind code	B2
Filing date	Sep 22, 2016
Priority date	Feb 10, 2015
Publication date	Apr 10, 2018
Grant date	Apr 10, 2018

Abstract

A system is provided for determining a location of a landmark for use in navigation of an autonomous vehicle. The system includes a processor programmed to receive a measured position of the landmark. The processor is also programmed to determine a refined position of the landmark based on the measured position of the landmark and at least one previously acquired position for the landmark. The measured position and the previously acquired position are determined based on acquisition of an environmental image associated with the host vehicle, analysis of the environmental image to identify the landmark, reception of global positioning system (GPS) data representing a location of the host vehicle, analysis of the environmental image to determine a relative position of the identified landmark with respect to the host vehicle, and determination of a globally localized position of the landmark based on the GPS data and the relative position.

First claim

What is claimed is:

1. A system for determining a location of a landmark for use in navigation of an autonomous vehicle, the system comprising:
at least one processor programmed to:
receive a measured position of the landmark;
determine a refined position of the landmark based on the measured position of the landmark and at least one previously acquired position for the landmark, wherein the measured position and the at least one previously acquired position are determined based on acquisition, from a camera associated with a host vehicle, of at least one environmental image associated with the host vehicle, analysis of the at least one environmental image to identify the landmark in the environment of the host vehicle, reception of global positioning system (GPS) data representing a location of the host vehicle, analysis of the at least one environmental image to determine a relative position of the identified landmark with respect to the host vehicle, and determination of a globally localized position of the landmark based on at least the GPS data and the determined relative position;
selectively preclude transmission of the refined position of the landmark or the measured position of the landmark to a server, the server storing a sparse data model including landmark position information, based on at least one value indicative of a determined confidence level; and
selectively preclude transmission of a distance between two measured landmark positions to the server based on the at least one value indicative of the determined confidence level.

2. The system of claim 1 , wherein the landmark includes at least one of a traffic sign, an arrow, a lane marking, a dashed lane marking, a traffic light, a stop line, a directional sign, a landmark beacon, or a lamppost.

3. The system of claim 1 , wherein analysis of the at least one image to determine the relative position of the identified landmark with respect to the vehicle includes calculating a distance based on a scale associated with the at least one image.

4. The system of claim 1 , wherein analyzing the at least one image to determine the relative position of the identified landmark with respect to the vehicle includes calculating a distance based on an optical flow associated with at least two images.

5. The system of claim 1 , wherein the GPS data is received from a GPS device included in the host vehicle.

6. The system of claim 1 , wherein the camera is included in the host vehicle.

7. The system of claim 1 , wherein determining the refined position of the landmark includes averaging the measured position of the landmark with the at least one previously acquired position.

8. The system of claim 1 , wherein the landmark is associated with a road segment, and the at least one value indicative of the determined confidence level is associated with the road segment.

9. The system of claim 1 , wherein the landmark is associated with a geographical region, and the at least one value indicative of the determined confidence level is associated with the geographical region.

10. The system of claim 1 , wherein the landmark is associated with a local map area, and the at least one value indicative of the determined confidence level is associated with the local map area.

11. The system of claim 1 , wherein the at least one processor is further programmed to receive the at least one value indicative of the determined confidence level from the server.

12. The system of claim 1 , wherein the server is configured to selectively control data flow from the autonomous vehicle based on the at least one value indicative of the determined confidence level.

13. The system of claim 1 , wherein the sparse data model has a landmark density of no more than twenty landmarks per kilometer.

14. The system of claim 1 , wherein the server is configured to receive additional information from the autonomous vehicle other than the refined position of the landmark and the measured position of the landmark.

15. The system of claim 14 , wherein the additional information includes an image captured by an image capturing device.

16. The system of claim 1 , wherein the at least one processor is included in the autonomous vehicle.

17. The system of claim 1 , wherein the at least one processor is included in the server.

18. A method for determining a location of a landmark for use in navigation of an autonomous vehicle, the method comprising:
receiving a measured position of the landmark;
determining a refined position of the landmark based on the measured position of the landmark and at least one previously acquired position for the landmark, wherein the measured position and the at least one previously acquired position are determined based on:
acquisition, from a camera associated with a host vehicle, of at least one environmental image associated with the host vehicle,
analysis of the at least one environmental image to identify the landmark in the environment of the host vehicle,
reception of global positioning system (GPS) data representing a location of the host vehicle,
analysis of the at least one environmental image to determine a relative position of the identified landmark with respect to the host vehicle, and
determination of a globally localized position of the landmark based on at least the GPS data and the determined relative position;
selectively precluding transmission of the refined position of the landmark or the measured position of the landmark to a server, the server storing a sparse data model including landmark position information, based on at least one value indicative of a determined confidence level; and
selectively preclude transmission of a distance between two measured landmark positions to the server based on the at least one value indicative of the determined confidence level.

19. The method of claim 18 , wherein the landmark includes at least one of a traffic sign, an arrow, a lane marking, a dashed lane marking, a traffic light, a stop line, a directional sign, a landmark beacon, or a lamppost.

20. The method of claim 18 , wherein analysis of the at least one image to determine the relative position of the identified landmark with respect to the vehicle includes calculating a distance based on a scale associated with the at least one image.

21. The method of claim 18 , wherein analysis of the at least one image to determine the relative position of the identified landmark with respect to the vehicle includes calculating a distance based on an optical flow associated with at least two images.

22. The method of claim 18 , wherein the GPS data is received from a GPS device included in the host vehicle.

23. The method of claim 18 , wherein the camera is included in the host vehicle.

24. The method of claim 18 , wherein determining the refined position of the landmark includes averaging the measured position of the landmark with the at least one previously acquired position.

25. The method of claim 18 , wherein the method is performed by at least one processor included in the autonomous vehicle.

26. The method of claim 18 , wherein the method is performed by at least one processor included in the server.

27. An autonomous vehicle, comprising:
a body; and
at least one processor programmed to:
receive a measured position of a landmark;
determine a refined position of the landmark based on the measured position of the landmark

Assignees

• Mobileye Vision Technologies Ltd

Inventors

• Shashua Amnon
• Gdalyahu Yoram
• Braunstein Daniel

Classifications

• G01C21/32

  Structuring or formatting of map data · CPC title

• G01C21/30 Primary

  Map- or contour-matching · CPC title

• B60W2555/60

  Traffic rules, e.g. speed limits or right of way · CPC title

• G01C21/3476

  using point of interest [POI] information, e.g. a route passing visible POIs · CPC title

• G06F16/2379

  Updates performed during online database operations; commit processing · CPC title