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1. WO2020139481 - COLLISION AVOIDANCE SYSTEM, DEPTH IMAGING SYSTEM, VEHICLE, OBSTACLE MAP GENERATOR, AND METHODS THEREOF

Publication Number WO/2020/139481
Publication Date 02.07.2020
International Application No. PCT/US2019/062084
International Filing Date 19.11.2019
IPC
G08G 5/00 2006.01
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
5Traffic control systems for aircraft
G06T 7/50 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
50Depth or shape recovery
B64C 39/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
CAEROPLANES; HELICOPTERS
39Aircraft not otherwise provided for
02characterised by special use
G05D 1/02 2006.01
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
G01S 19/14 2010.01
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
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS , GLONASS or GALILEO
13Receivers
14specially adapted for specific applications
CPC
B64C 2201/027
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
CAEROPLANES; HELICOPTERS
2201Unmanned aerial vehicles; Equipment therefor
02characterized by type of aircraft
027Flying platforms
B64C 2201/123
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
CAEROPLANES; HELICOPTERS
2201Unmanned aerial vehicles; Equipment therefor
12adapted for particular use
123for imaging, or topography
B64C 2201/145
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
CAEROPLANES; HELICOPTERS
2201Unmanned aerial vehicles; Equipment therefor
14characterised by flight control
141autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
145using satellite radio beacon positioning systems, e.g. GPS
B64C 39/024
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
CAEROPLANES; HELICOPTERS
39Aircraft not otherwise provided for
02characterised by special use
024of the remote controlled vehicle type, i.e. RPV
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
G01S 17/931
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
93for anti-collision purposes
931of land vehicles
Applicants
  • INTEL CORPORATION [US]/[US]
Inventors
  • POHL, Daniel
  • ACHTELIK, Markus
  • JAEGER, Bastian
  • RYLL, Andre
  • VERVOORST, Jan, Willem
Agents
  • VON RUEDEN, Benjeman
Priority Data
16/233,24527.12.2018US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) COLLISION AVOIDANCE SYSTEM, DEPTH IMAGING SYSTEM, VEHICLE, OBSTACLE MAP GENERATOR, AND METHODS THEREOF
(FR) SYSTÈME ANTI-COLLISION, SYSTÈME D'IMAGERIE DE PROFONDEUR, VÉHICULE, GÉNÉRATEUR DE CARTE D'OBSTACLES ET PROCÉDÉS ASSOCIÉS
Abstract
(EN)
According to various aspects, an obstacle map generator is provided, including: one or more processors configured to receive one or more depth images from a depth imaging system, determine, for each depth image of the one or more received depth images, a first set of pixels and a second set of pixels, each pixel of the first set of pixels has a depth value assigned thereto and each pixel of the second set of pixels has no depth value assigned thereto or has a depth value outside a predefined depth value range assigned thereto, assign a pre-defined depth value to one or more pixels of the second set of pixels, and generate an obstacle map based on the determined first set of pixels and the one or more pixels of the second set of pixels having the pre-defined depth value assigned thereto.
(FR)
Selon divers aspects, l'invention concerne un générateur de carte d'obstacles, qui comprend : un ou plusieurs processeurs configurés de sorte à recevoir une ou plusieurs images de profondeur à partir d'un système d'imagerie de profondeur, à déterminer, pour chaque image de profondeur desdites images de profondeur reçues, un premier ensemble de pixels et un second ensemble de pixels, chaque pixel du premier ensemble de pixels ayant une valeur de profondeur qui lui est attribuée et chaque pixel du second ensemble de pixels n'ayant pas de valeur de profondeur qui lui est attribuée ou ayant une valeur de profondeur en dehors d'une plage de valeurs de profondeur prédéfinie qui lui est attribuée, à attribuer une valeur de profondeur prédéfinie à un ou à plusieurs pixels du second ensemble de pixels, et à générer une carte d'obstacles sur la base du premier ensemble déterminé de pixels et du ou des pixels du second ensemble de pixels ayant la valeur de profondeur prédéfinie qui lui ou leur est attribuée.
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