Vehicle localisation using the ground surface with an event camera

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United States of America Patent

PATENT NO 11365966
APP PUB NO 20190265038A1
SERIAL NO

16319344

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Abstract

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A method for estimating vehicle location by obtaining change events from an event camera's observations of a ground surface moving relative to the vehicle, determining a signature of the ground surface from the change events; and estimating the location using the signature. The change events may be processed to produce an 1st invariant representation of a ground surface patch for use as the signature. Alternatively, range measurements representing a patch may be used as the signature. A map is constructed having the representations of the ground surface patches including the locations of the patches. The same patch of ground surface is subsequently measured thereby obtaining a sequence of change events which are processed to produce a 2nd representation. The 2nd representation is matched to the map of 1st invariant representations. The location of the vehicle on the ground is determined based on the match.

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Patent Owner(s)

  • MACHINES WITH VISION LIMITED

International Classification(s)

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Ashbrook, Anthony Edinburgh, GB 3 25

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