According to the embodiments described herein, a method for environmental based localization may include capturing an input image of a ceiling comprising a plurality of skylights and a substantially circular light. Features can be extracted from the input image. A convex hull of the raw features can be determined, and a preferred set of lines from the raw features can be selected utilizing the convex hull. A centerline of the skylight can be determined from the preferred set of lines. The substantially circular light of the input image can be transformed into a point feature. A pose and/or position of a vehicle can be determined based upon the centerline of the skylight and the point feature.
INDUSTRIAL VEHICLES WITH OVERHEAD LIGHT BASED LOCALIZATION
INDUSTRIEFAHRZEUGE MIT LOKALISIERUNG AUF BASIS EINER ÜBERKOPF-LEUCHTE
VÉHICULES INDUSTRIELS À LOCALISATION BASÉE SUR UN ÉCLAIRAGE ZÉNITHAL
2020-07-01
Patent
Elektronische Ressource
Englisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06V |
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