公开(公告)号：US09386209B2

公开(公告)日：2016-07-05

申请号：US14336415

申请日：2014-07-21

申请人： HANWHA TECHWIN CO., LTD.

发明人： Dong Shin Kim ,  Jin Suk Park

IPC分类号： G06T7/20 ,  H04N5/225 ,  G06T7/00 ,  G06K9/00 ,  G06K9/32 ,  G06K9/62 ,  G06T17/05 ,  H04N101/00

CPC分类号： H04N5/2257 ,  G06K9/00798 ,  G06K9/3216 ,  G06K9/6292 ,  G06K2009/3291 ,  G06K2209/21 ,  G06T7/73 ,  G06T17/05 ,  G06T2207/20076 ,  G06T2207/30244 ,  H04N2101/00

摘要： Provided is a position estimation apparatus including: a position estimation unit configured to estimate a position of a moving object driven on an arbitrary lane according to an image frame captured by a stereo camera provided in the moving object; a posture information acquisition unit configured to obtain first posture information of the moving object from the estimated position and second posture information of the moving object at a point of time of the stereo camera capturing the image frame; a position correction unit configured to calculate: a probability distribution for a current position of the moving object by using the first posture information and the second posture information, and configured to correct a first probability of the probability distribution for the current position as a corrected position of the moving object; and a composite probability distribution based on a probability of a lane section of the arbitrary lane from a lane probability distribution chart and the corrected position output from the first position correction unit and configured to re-correct a second probability of the composite probability distribution as a final position of the moving object.

摘要翻译： 提供一种位置估计装置，包括：位置估计单元，被配置为根据由设置在移动对象中的立体相机拍摄的图像帧来估计在任意车道上驱动的移动物体的位置; 姿势信息获取单元，被配置为在拍摄所述图像帧的立体摄像机的时刻从所述估计位置和所述移动物体的第二姿势信息获得所述运动物体的第一姿态信息; 位置校正单元，被配置为通过使用所述第一姿态信息和所述第二姿势信息来计算所述运动对象的当前位置的概率分布，并且被配置为将所述当前位置的概率分布的第一概率校正为校正位置 的移动物体; 以及基于来自车道概率分布图的任意车道的车道部分的概率的复合概率分布和从第一位置校正单元输出的被校正位置，并且被配置为将复合概率分布的第二概率重新校正为 移动物体的最终位置。