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公开(公告)号：US20120310504A1
公开(公告)日：2012-12-06
申请号：US13153137
申请日：2011-06-03
申请人： Charles DuHadway , Jan Becker , Benjamin Pitzer
发明人： Charles DuHadway , Jan Becker , Benjamin Pitzer
CPC分类号： G01C21/28 , G01S5/0278 , G01S13/86 , G01S19/45
摘要： A localization system within a vehicle in one embodiment includes a global position system (GPS) receiver, a radar sensor, a data storage device including program instructions stored therein, a symbolic map stored within the data storage device, and a controller operatively coupled to the data storage device, the GPS receiver, and the radar sensor, the controller configured to execute the program instructions to analyze data from the GPS receiver, data from the radar sensor, and data from the stored symbolic map, and determine a probabilistic vehicle location based upon the analysis.
摘要翻译： 在一个实施例中，车辆内的定位系统包括全球定位系统（GPS）接收器，雷达传感器，包括存储在其中的程序指令的数据存储设备，存储在数据存储设备内的符号图，以及可操作地耦合到 数据存储设备，GPS接收器和雷达传感器，该控制器被配置为执行程序指令以分析来自GPS接收器的数据，来自雷达传感器的数据和来自存储的符号图的数据，并且基于概率车辆位置确定 进行分析。
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公开(公告)号：US20100283633A1
公开(公告)日：2010-11-11
申请号：US12463699
申请日：2009-05-11
申请人： Jan Becker , Soeren Kammel , Benjamin Pitzer , Charles DuHadway
发明人： Jan Becker , Soeren Kammel , Benjamin Pitzer , Charles DuHadway
CPC分类号： B62D15/028 , B60R1/00 , B60R2300/105 , B60R2300/305 , B60R2300/607 , B60R2300/806 , B62D15/027 , G06T15/205 , H04N7/181
摘要： A method for assisting in parallel parking includes providing a vehicle with a forward-looking camera and/or a backward-looking camera. The camera is used to capture an image of a parking area including at least one unoccupied parking space and a plurality of parking spaces occupied by other vehicles. A homography of the captured image is created. The homography is used to estimate an image of the parking area from an overhead viewpoint. A portion of the overhead image including the unoccupied parking space is displayed on a display screen within a passenger compartment of the vehicle.
摘要翻译： 一种用于协助平行停车的方法包括向车辆提供前视摄像机和/或后视摄像机。 相机用于捕获包括至少一个未占用的停车位和由其他车辆占据的多个停车位的停车区域的图像。 创建捕获图像的单对应性。 单打印被用于从俯视观点估计停车区域的图像。 包括未占用的停车位的架空图像的一部分被显示在车辆的乘客舱内的显示屏幕上。
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3.发明申请METHOD AND APPARATUS FOR COMBINING THREE-DIMENSIONAL POSITION AND TWO-DIMENSIONAL INTENSITY MAPPING FOR LOCALIZATION 有权用于组合三维位置和二维强度映射用于本地化的方法和装置公开(公告)号：US20100305854A1
公开(公告)日：2010-12-02
申请号：US12475701
申请日：2009-06-01
申请人： Soeren Kammel , Benjamin Pitzer , Jan Becker , Charles DuHadway
发明人： Soeren Kammel , Benjamin Pitzer , Jan Becker , Charles DuHadway
IPC分类号： G01C21/00
CPC分类号： G01C21/005 , A01D34/008 , G01S19/48
摘要： A mapping method includes using a first mobile unit to map two-dimensional features while the first mobile unit traverses a surface. Three-dimensional positions of the features are sensed during the mapping. A three-dimensional map is created including associations between the three-dimensional positions of the features and the map of the two-dimensional features. The three-dimensional map is provided from the first mobile unit to a second mobile unit. The second mobile unit is used to map the two-dimensional features while the second mobile unit traverses the surface. Three-dimensional positions of the two-dimensional features mapped by the second mobile unit are determined within the second mobile unit and by using the three-dimensional map.
摘要翻译： 映射方法包括当第一移动单元穿过表面时，使用第一移动单元映射二维特征。 在映射期间感测特征的三维位置。 创建三维地图，其包括特征的三维位置与二维特征的地图之间的关联。 从第一移动单元向第二移动单元提供三维地图。 第二移动单元用于在第二移动单元穿过表面时映射二维特征。 在第二移动单元内确定由第二移动单元映射的二维特征的三维位置，并通过使用三维地图。
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公开(公告)号：US09562778B2
公开(公告)日：2017-02-07
申请号：US13153137
申请日：2011-06-03
申请人： Jan Becker , Benjamin Pitzer
发明人： Charles DuHadway , Jan Becker , Benjamin Pitzer
CPC分类号： G01C21/28 , G01S5/0278 , G01S13/86 , G01S19/45
摘要： A localization system within a vehicle in one embodiment includes a global position system (GPS) receiver, a radar sensor, a data storage device including program instructions stored therein, a symbolic map stored within the data storage device, and a controller operatively coupled to the data storage device, the GPS receiver, and the radar sensor, the controller configured to execute the program instructions to analyze data from the GPS receiver, data from the radar sensor, and data from the stored symbolic map, and determine a probabilistic vehicle location based upon the analysis.
摘要翻译： 在一个实施例中，车辆内的定位系统包括全球定位系统（GPS）接收器，雷达传感器，包括存储在其中的程序指令的数据存储设备，存储在数据存储设备内的符号图，以及可操作地耦合到 数据存储设备，GPS接收器和雷达传感器，该控制器被配置为执行程序指令以分析来自GPS接收器的数据，来自雷达传感器的数据和来自存储的符号图的数据，并且基于概率车辆位置确定 进行分析。
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公开(公告)号：US08289189B2
公开(公告)日：2012-10-16
申请号：US12463699
申请日：2009-05-11
申请人： Jan Becker , Soeren Kammel , Benjamin Pitzer , Charles DuHadway
发明人： Jan Becker , Soeren Kammel , Benjamin Pitzer , Charles DuHadway
CPC分类号： B62D15/028 , B60R1/00 , B60R2300/105 , B60R2300/305 , B60R2300/607 , B60R2300/806 , B62D15/027 , G06T15/205 , H04N7/181
摘要： A method for assisting in parallel parking includes providing a vehicle with a forward-looking camera and/or a backward-looking camera. The camera is used to capture an image of a parking area including at least one unoccupied parking space and a plurality of parking spaces occupied by other vehicles. A homography of the captured image is created. The homography is used to estimate an image of the parking area from an overhead viewpoint. A portion of the overhead image including the unoccupied parking space is displayed on a display screen within a passenger compartment of the vehicle.
摘要翻译： 一种用于协助平行停车的方法包括向车辆提供前视摄像机和/或后视摄像机。 相机用于捕获包括至少一个未占用的停车位和由其他车辆占据的多个停车位的停车区域的图像。 创建捕获图像的单对应性。 单打印被用于从俯视观点估计停车区域的图像。 包括未占用的停车位的架空图像的一部分被显示在车辆的乘客舱内的显示屏幕上。
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6.发明授权Method and apparatus for combining three-dimensional position and two-dimensional intensity mapping for localization 有权用于组合三维位置和用于定位的二维强度映射的方法和装置公开(公告)号：US08473187B2
公开(公告)日：2013-06-25
申请号：US12475701
申请日：2009-06-01
申请人： Soeren Kammel , Benjamin Pitzer , Jan Becker , Charles DuHadway
发明人： Soeren Kammel , Benjamin Pitzer , Jan Becker , Charles DuHadway
IPC分类号： G01C21/00
CPC分类号： G01C21/005 , A01D34/008 , G01S19/48
摘要： A mapping method includes using a first mobile unit to map two-dimensional features while the first mobile unit traverses a surface. Three-dimensional positions of the features are sensed during the mapping. A three-dimensional map is created including associations between the three-dimensional positions of the features and the map of the two-dimensional features. The three-dimensional map is provided from the first mobile unit to a second mobile unit. The second mobile unit is used to map the two-dimensional features while the second mobile unit traverses the surface. Three-dimensional positions of the two-dimensional features mapped by the second mobile unit are determined within the second mobile unit and by using the three-dimensional map.
摘要翻译： 映射方法包括当第一移动单元穿过表面时，使用第一移动单元映射二维特征。 在映射期间感测特征的三维位置。 创建三维地图，其包括特征的三维位置与二维特征的地图之间的关联。 从第一移动单元向第二移动单元提供三维地图。 第二移动单元用于在第二移动单元穿过表面时映射二维特征。 在第二移动单元内确定由第二移动单元映射的二维特征的三维位置，并通过使用三维地图。
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