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1. GB2560799 - Sign recognition for autonomous vehicles

Office
United Kingdom
Application Number 201800942
Application Date 19.01.2018
Publication Number 2560799
Publication Date 26.09.2018
Publication Kind A
IPC
G06K 9/00
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
G01S 17/89
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems, specially adapted for specific applications
89for mapping or imaging
CPC
G05D 1/0242
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0231using optical position detecting means
0242using non-visible light signals, e.g. IR or UV signals
G05D 1/0251
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0231using optical position detecting means
0246using a video camera in combination with image processing means
0251extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
G05D 1/0255
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0255using acoustic signals, e.g. ultra-sonic singals
G06K 9/00805
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
00805Detecting potential obstacles
G06K 9/00818
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
00818Recognising traffic signs
G06K 9/344
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
20Image acquisition
34Segmentation of touching or overlapping patterns in the image field
344using recognition of characters or words
Applicants FORD GLOBAL TECH LLC
Inventors DONGRAN LIU
JINESH J JAIN
Priority Data 15413078 23.01.2017 US
Title
(EN) Sign recognition for autonomous vehicles
Abstract
(EN)
A method 300, performed by a vehicle controller, comprises: identifying clusters of points in a point cloud obtained 302 from a LIDAR (light detection and ranging) sensor having reflectivity above a reflectivity threshold 306; performing symbol and/or character recognition 314 for regions of an output of a camera corresponding 312 to one or more of the clusters of points; and refraining from performing symbol/character recognition for regions of the output of the camera not corresponding to the clusters of points. Clusters may further be selected according to a flatness threshold 310, and may be further refined by removing clusters corresponding to a road surface or ground plane 304. Autonomous vehicle navigation, including braking, accelerating, and steering, may be controlled by further performing obstacle detection using the point cloud. A vehicle is provided to perform the method, wherein a camera and LIDAR sensor are mounted to the vehicle. The invention reduces the field of view on which character recognition must be performed in order to reduce the computing burden.