Method and device for the identification and localisation of fixed objects along a path

摘要

The vehicle carries a single fixed camera (24) producing digital images at a rate such that each object appears in more than two successive images. The position and direction of the vehicle are measured by inertial navigation (12) and checked by GPS (14). Each object is recognised from comparison of its images with a stored library (26). It is tracked (38) through successive images by prediction allowing for the movement of the vehicle. Its position is computed from the measurements using a method of estimation by statistical filtering.