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. Features can be extracted from the input image. The features can be grouped into a plurality of feature groups such that each of the feature groups is associated with one of the skylights. Line segments can be extracted from the features of each feature group, automatically, with one or more processors executing a feature extraction algorithm on each feature group separately. At least two selected lines of the line segments of each feature groups can be selected. A centerline for each of the feature groups can be determined based at least in part upon the two selected lines. The center line of each of the feature groups can be associated with one of the skylights.


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    Title :

    Industrial vehicles with overhead light based localization


    Contributors:

    Publication date :

    2017-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



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