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1. WO2019202317 - METHOD AND SYSTEM OF ARTICULATION ANGLE MEASUREMENT

Publication Number WO/2019/202317
Publication Date 24.10.2019
International Application No. PCT/GB2019/051091
International Filing Date 17.04.2019
Chapter 2 Demand Filed 17.02.2020
IPC
G06T 7/73 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
70Determining position or orientation of objects or cameras
73using feature-based methods
B62D 15/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators
G01B 11/26 2006.01
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
26for measuring angles or tapers; for testing the alignment of axes
CPC
B62D 15/02
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators ; ; Steering position determination; Steering aids
G01B 11/26
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
26for measuring angles or tapers; for testing the alignment of axes
G06T 2207/10028
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10028Range image; Depth image; 3D point clouds
G06T 2207/30252
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
30Subject of image; Context of image processing
30248Vehicle exterior or interior
30252Vehicle exterior; Vicinity of vehicle
G06T 7/73
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
70Determining position or orientation of objects or cameras
73using feature-based methods
Applicants
  • CAMBRIDGE ENTERPRISE LIMITED [GB]/[GB]
Inventors
  • CEBON, David
  • DE SAXE, Christopher
Agents
  • GILL JENNINGS & EVERY LLP
Priority Data
1806279.417.04.2018GB
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) METHOD AND SYSTEM OF ARTICULATION ANGLE MEASUREMENT
(FR) PROCÉDÉ ET SYSTÈME DE MESURE D'ANGLE D'ARTICULATION
Abstract
(EN)
A system for measuring the articulation angle of a trailer (300) pulled by a vehicle (200) is described. The system comprises : a camera (110) mounted, in use, in a fixed orientation on the vehicle (200) so as to image the trailer (300); and a processing unit (120) arranged to receive image data from the camera (110). The processing unit (120) is configured to: - receive initial image data from the camera (110) from multiple orientations relative to the trailer (300); - identify common feature points in the initial image data to compute and store a three-dimensional map; - receive further image data as the trailer (300) is pulled by the vehicle (200); - identify and track feature points in the image data relative to the stored map to estimate the pose of the camera (110) relative to the trailer (300); and calculate an articulation angle based on the estimated pose. With the system according to the present invention a reliable real time measure of the articulation angle of a vehicle (200) and trailer (300) can be provided which may be integrated on existing vehicles with little or no modification.
(FR)
L'invention concerne un système de mesure de l'angle d'articulation d'une remorque (300) tirée par un véhicule (200). Le système comprend : une caméra (110) montée, lors de l'utilisation, dans une orientation fixe sur le véhicule (200) de façon à imager la remorque (300); et une unité de traitement (120) agencée de façon à recevoir des données d'image provenant de la caméra (110). L'unité de traitement (120) est configurée pour : recevoir des données d'image initiale provenant de la caméra (110) à partir de multiples orientations par rapport à la remorque (300); - identifier des points caractéristiques communs dans les données d'image initiales pour calculer et stocker une carte tridimensionnelle ; - recevoir d'autres données d'image pendant que le remorque (300) est tiré par le véhicule (200); - identifier et suivre des points caractéristiques dans les données d'image par rapport à la carte stockée pour estimer la pose de la caméra (110) par rapport à la remorque (300); et calculer un angle d'articulation sur la base de la pose estimée. Avec le système selon la présente invention, une mesure en temps réel fiable de l'angle d'articulation d'un véhicule (200) et d'une remorque (300) peut être fournie et celle-ci peut être intégrée sur des véhicules existants avec peu ou pas de modification.
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