WO1998020399A3 - Infrastructure independent position determining system - Google Patents

Infrastructure independent position determining system Download PDF

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Publication number
WO1998020399A3
WO1998020399A3 PCT/US1997/019944 US9719944W WO9820399A3 WO 1998020399 A3 WO1998020399 A3 WO 1998020399A3 US 9719944 W US9719944 W US 9719944W WO 9820399 A3 WO9820399 A3 WO 9820399A3
Authority
WO
WIPO (PCT)
Prior art keywords
map
images
image
iconic
position determining
Prior art date
Application number
PCT/US1997/019944
Other languages
French (fr)
Other versions
WO1998020399A2 (en
Inventor
Alonzo James Kelly
Robert Craig Coulter
Original Assignee
Univ Carnegie Mellon
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Univ Carnegie Mellon filed Critical Univ Carnegie Mellon
Priority to EP97946462A priority Critical patent/EP0937284B1/en
Priority to AU51624/98A priority patent/AU5162498A/en
Priority to AT97946462T priority patent/ATE218221T1/en
Priority to DE69712906T priority patent/DE69712906T2/en
Publication of WO1998020399A2 publication Critical patent/WO1998020399A2/en
Publication of WO1998020399A3 publication Critical patent/WO1998020399A3/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Abstract

A method and apparatus for determining position is comprised of the steps of capturing an image (30) related to the present position and comparing the captured image (32) with one or more images from an iconic map. The iconic map is a map which stores images of a substantially flat surface over which a robot or vehicle is to operate. The stored images contain randomly occurring characteristics such as the fibers in a carpet, brush marks appearing in brushed concrete, and the like. Although such naturally occurring features are essentially random, when analyzed in small enough images, each image becomes unique. The position is determined based upon the image from the map which provides the highest correlation. Speed, wheel slippage, and other parameters can be calculated using the disclosed method.
PCT/US1997/019944 1996-11-05 1997-11-05 Infrastructure independent position determining system WO1998020399A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP97946462A EP0937284B1 (en) 1996-11-05 1997-11-05 Infrastructure independent position determining system
AU51624/98A AU5162498A (en) 1996-11-05 1997-11-05 Infrastructure independent position determining system
AT97946462T ATE218221T1 (en) 1996-11-05 1997-11-05 POSITIONING SYSTEM INDEPENDENT OF THE ENVIRONMENT
DE69712906T DE69712906T2 (en) 1996-11-05 1997-11-05 POSITION DETECTION SYSTEM INDEPENDENT FROM THE SURROUNDINGS

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US08/744,053 US5999866A (en) 1996-11-05 1996-11-05 Infrastructure independent position determining system
US08/744,053 1996-11-05

Publications (2)

Publication Number Publication Date
WO1998020399A2 WO1998020399A2 (en) 1998-05-14
WO1998020399A3 true WO1998020399A3 (en) 1998-06-25

Family

ID=24991241

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1997/019944 WO1998020399A2 (en) 1996-11-05 1997-11-05 Infrastructure independent position determining system

Country Status (6)

Country Link
US (2) US5999866A (en)
EP (1) EP0937284B1 (en)
AT (1) ATE218221T1 (en)
AU (1) AU5162498A (en)
DE (1) DE69712906T2 (en)
WO (1) WO1998020399A2 (en)

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Also Published As

Publication number Publication date
US6453223B1 (en) 2002-09-17
DE69712906D1 (en) 2002-07-04
EP0937284A2 (en) 1999-08-25
WO1998020399A2 (en) 1998-05-14
EP0937284B1 (en) 2002-05-29
ATE218221T1 (en) 2002-06-15
DE69712906T2 (en) 2003-04-24
AU5162498A (en) 1998-05-29
US5999866A (en) 1999-12-07

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