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    • 2. 发明授权
    • Vehicle localization in open-pit mining using GPS and monocular camera
    • 使用GPS和单目相机的露天采矿车辆定位
    • US09224050B2
    • 2015-12-29
    • US13049822
    • 2011-03-16
    • Pantelis ElinasLinthotage Dushantha Lochana PereraEric NettletonHugh Durrant-Whyte
    • Pantelis ElinasLinthotage Dushantha Lochana PereraEric NettletonHugh Durrant-Whyte
    • G06K9/00G06T7/00
    • G06K9/00791G06K2209/23G06T7/73G06T2207/10016G06T2207/30236
    • Described herein is a method and system for vehicle localization in an open pit mining environment having intermittent or incomplete GPS coverage. The system comprises GPS receivers associated with the vehicles and providing GPS measurements when available, as well as one or more cameras 50,55 overlooking the mine region 10. The cameras 50,55 are at a known location and are used for generating a sequence of images in a field of view with predetermined calibration in a fixed coordinate system. The system further comprises a vehicle recognition processor 120 for analyzing individual images from the camera to identify and locate within an image a vehicle in the mine region, as well as a vehicle tracking processor 130 for analyzing a sequence of images from the camera to track the identified vehicle location in the sequence of images. A data fusion processor 160 is coupled to receive GPS measurements, when available, from the vehicle GPS receivers, to fuse the received GPS measurement and corresponding vehicle image location, and to output a vehicle localization output 125.
    • 这里描述了一种在具有间歇或不完整的GPS覆盖的露天采矿环境中的车辆定位的方法和系统。 该系统包括与车辆相关联的GPS接收器,并且当可用时提供GPS测量,以及一个或多个俯瞰矿区10的照相机50,55。照相机50,55位于已知位置,并用于产生一系列 在固定坐标系中具有预定校准的视场中的图像。 该系统还包括车辆识别处理器120,用于分析来自照相机的各个图像以识别和定位矿区内的车辆的图像,以及车辆跟踪处理器130,用于分析来自相机的图像序列以跟踪 在图像序列中识别车辆位置。 数据融合处理器160被耦合以在可用时从车载GPS接收机接收GPS测量值,以便熔接接收到的GPS测量值和对应的车辆图像位置,并输出车辆定位输出125。
    • 4. 发明申请
    • VEHICLE LOCALIZATION IN OPEN-PIT MINING USING GPS AND MONOCULAR CAMERA
    • 使用GPS和单相摄像机进行开采矿车的车辆本地化
    • US20110299730A1
    • 2011-12-08
    • US13049822
    • 2011-03-16
    • Pantelis ELINASLinthotage Dushantha Lochana PERERAEric NETTLETONHugh DURRANT-WHYTE
    • Pantelis ELINASLinthotage Dushantha Lochana PERERAEric NETTLETONHugh DURRANT-WHYTE
    • G06K9/00
    • G06K9/00791G06K2209/23G06T7/73G06T2207/10016G06T2207/30236
    • Described herein is a method and system for vehicle localization in an open pit mining environment having intermittent or incomplete GPS coverage. The system comprises GPS receivers associated with the vehicles and providing GPS measurements when available, as well as one or more cameras 50,55 overlooking the mine region 10. The cameras 50,55 are at a known location and are used for generating a sequence of images in a field of view with predetermined calibration in a fixed coordinate system. The system further comprises a vehicle recognition processor 120 for analysing individual images from the camera to identify and locate within an image a vehicle in the mine region, as well as a vehicle tracking processor 130 for analysing a sequence of images from the camera to track the identified vehicle location in the sequence of images. A data fusion processor 160 is coupled to receive GPS measurements, when available, from the vehicle GPS receivers, to fuse the received GPS measurement and corresponding vehicle image location, and to output a vehicle localization output 125.
    • 这里描述了一种在具有间歇或不完整的GPS覆盖的露天采矿环境中的车辆定位的方法和系统。 该系统包括与车辆相关联的GPS接收器,并且当可用时提供GPS测量,以及一个或多个俯瞰矿区10的照相机50,55。照相机50,55位于已知位置,并用于产生一系列 在固定坐标系中具有预定校准的视场中的图像。 该系统还包括车辆识别处理器120,用于分析来自照相机的各个图像以识别和定位矿区内的车辆的图像,以及车辆跟踪处理器130,用于分析来自相机的图像序列以跟踪 在图像序列中识别车辆位置。 数据融合处理器160被耦合以在可用时从车载GPS接收机接收GPS测量值,以便熔接接收到的GPS测量值和对应的车辆图像位置,并输出车辆定位输出125。