3-D Imaging Sensor Based Location Estimation

摘要

A system and method for estimating a location of an object or vehicle is provided. Images of a region encompassing the object are obtained, providing a three dimensional (3-D) view frame of the region. 3-D view frames are collected along a direction of travel of the object. A 3-D map is generated along the direction of travel of the object, the map based on the 3-D view frames and further based on an estimate of motion of the object at times associated with the 3-D view frames. A first set of features is extracted from the 3-D map. A geo-referenced feature database is searched for a second set of features that match the first set of features. A geo-location associated with the second set of features is retrieved from the feature database. The location of the object is estimated based on the retrieved geo-location.

主权项

1. A method for estimating a location of an object comprising:
obtaining a plurality of images of a region encompassing said object, said plurality of images providing a three dimensional (3-D) view frame of said region; collecting a plurality of said view frames along a direction of travel of said object; generating a three dimensional (3-D) map along said direction of travel of said object, said map based on said plurality of view frames and further based on an estimate of motion of said object at times associated with said plurality of view frames; extracting a first set of features from said 3-D map; searching a geo-referenced feature database for a second set of features that match said first set of features; retrieving a geo-location from said feature database, wherein said geo-location is associated with said second set of features; and estimating said location of said object based on said retrieved geo-location.