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1. WO2020137314 - POSITION MEASUREMENT DEVICE

Publication Number WO/2020/137314
Publication Date 02.07.2020
International Application No. PCT/JP2019/046204
International Filing Date 26.11.2019
Chapter 2 Demand Filed 15.06.2020
IPC
G05D 1/02 2020.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
G01B 11/00 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
G08G 1/00 2006.01
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
G01C 21/12 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
10by using measurement of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
G01C 21/30 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
30Map- or contour-matching
G06T 7/00 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
CPC
G01B 11/00
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
G01C 21/12
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
10by using measurements of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
G01C 21/30
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
30Map- or contour-matching
G05D 1/02
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
G06T 7/00
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
G08G 1/00
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
Applicants
  • パナソニックIPマネジメント株式会社 PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD. [JP]/[JP]
Inventors
  • 岡田 典 OKADA, Tsukasa
Agents
  • 山尾 憲人 YAMAO, Norihito
  • 岡部 博史 OKABE, Hiroshi
Priority Data
2018-24781828.12.2018JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) POSITION MEASUREMENT DEVICE
(FR) DISPOSITIF DE MESURE DE POSITION
(JA) 位置測定装置
Abstract
(EN)
A position measurement device (100) is equipped with: an image capture unit (2) for acquiring a photographic image capturing the environment around a moving body; a detection unit (3) for detecting movement information indicating movement of the moving body; a control unit (4) for extracting a feature point from the photographic image; and a storage unit (5) for storing first position information indicating a spatial position of the feature point in the environment. The control unit searches the photographic image for a position in an image corresponding to the spatial position indicated by the first position information and, on the basis of the search result, determines whether the position of the moving body in the environment can be identified. When it is determined that the position of the moving body can be identified the control unit calculates the position of the moving body on the basis of the position identified in the image, and when it is determined that the position of the moving body cannot be identified the control unit calculates the position of the moving body on the basis of the movement information.
(FR)
La présente invention concerne un dispositif de mesure de position (100) comprenant : une unité de capture d'image (2) pour acquérir une image photographique capturant l'environnement autour d'un corps mobile ; une unité de détection (3) pour détecter des informations de mouvement indiquant un mouvement du corps mobile ; une unité de commande (4) pour extraire un point caractéristique de l'image photographique ; et une unité de stockage (5) pour stocker des premières informations de position indiquant une position spatiale du point caractéristique dans l'environnement. L'unité de commande recherche dans l'image photographique une position dans une image correspondant à la position spatiale indiquée par les premières informations de position et, sur la base du résultat de recherche, détermine si la position du corps mobile dans l'environnement peut être identifiée. Lorsqu'il est déterminé que la position du corps mobile peut être identifiée, l'unité de commande calcule la position du corps mobile sur la base de la position identifiée dans l'image, et lorsqu'il est déterminé que la position du corps mobile ne peut pas être identifiée, l'unité de commande calcule la position du corps mobile sur la base des informations de mouvement.
(JA)
位置測定装置(100)は、移動体の周囲の環境を撮像して撮像画像を取得する撮像部(2)と、移動体の動きを示す動き情報を検出する検出部(3)と、撮像画像から特徴点を抽出する制御部(4)と、特徴点の環境における空間位置を示す第1位置情報を記憶する記憶部(5)とを備える。制御部は、撮像画像上で、第1位置情報が示す空間位置に対応する画像上の位置を探索し、探索結果に基づいて環境における移動体の位置が特定されるか否かを判断する。制御部は、移動体の位置が特定されると判断した場合、特定された画像上の位置に基づいて移動体の位置を算出し、特定されないと判断した場合、動き情報に基づいて移動体の位置を算出する。
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