Position and heading detecting device for self controlled vehicle
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United States of America Patent
Stats
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Jun 15, 1993
Grant Date -
N/A
app pub date -
Dec 27, 1990
filing date -
Dec 28, 1989
priority date (Note) -
Expired
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Abstract
An outer environment of the vehicle is inputted as an image. Image processing is performed to the input image, and many edge segments are extracted. The edge segments which are colinear are clustered in order to perform a matching operation. Matching is performed in a respective set of plural longer edge segments representing plural clusters in correspondence with a set of plural guide signs as standards of guide of the vehicle mapped on the image input surface, and a set of longer edge segments being most matched each other is extracted. From position and headings of the extracted longer edge segments on the image input surface, the position and heading in the outer environment are calculated. The position and heading of the vehicle are detected from these values. The position and heading of the vehicle obtained in the above-mentioned image processing and the position and heading of the vehicle measured by other techniques and are evaluated synthetically. When the guide signs are mapped on the image input surface, the forecast values of position and heading of the vehicle at the image input time are used. In this manner, the detecting accuracy of the position and heading of the vehicle is improved.
First Claim
Family
- 15 United States
- 10 France
- 8 Japan
- 7 China
- 5 Korea
- 2 Other
Patent Owner(s)
- KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO
International Classification(s)
Inventor(s)
Inventor Name | Address | # of filed Patents | Total Citations |
---|---|---|---|
Ninomiya, Yoshiki | Nagoya, JP | 18 | 519 |
Sugimoto, Gunji | Kariya, JP | 4 | 224 |
Tange, Koichi | Nagoya, JP | 4 | 170 |
Yamamoto, Yuzo | Aichi, JP | 61 | 656 |
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Surcharge after expiration - Late payment is unavoidable | $700.00 | $350.00 | $175.00 |
Surcharge after expiration - Late payment is unintentional | $1,640.00 | $820.00 | $410.00 |
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