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2. 发明授权

US5961571A Method and apparatus for automatically tracking the location of vehicles 失效
标题翻译：自动跟踪车辆位置的方法和装置
公开(公告)号：US5961571A
公开(公告)日：1999-10-05
申请号：US364160
申请日：1994-12-27
申请人： Russell E. Gorr , Thomas R. Hancock , J. Stephen Judd , Long-Ji Lin , Carol L. Novak , Scott T. Rickard, Jr.
发明人： Russell E. Gorr , Thomas R. Hancock , J. Stephen Judd , Long-Ji Lin , Carol L. Novak , Scott T. Rickard, Jr.
IPC分类号： G01S3/783 , G01S5/00 , G05D1/02 , G06K9/00 , G06F165/00
CPC分类号： G06K9/00791 , G01S3/783 , G01S5/00 , G05D1/0246 , G05D1/0272 , G06K9/00664
摘要： A system for automatically tracking the location of a vehicle includes a visual image detector mounted on the vehicle for producing as the vehicle moves along a route digitized strips of image data representing successive panoramic views of scenery about the vehicle at respective locations along the route. A sparse tracking subsystem processes and stores only selected ones of the image data strips representing substantially spaced apart successive locations along the route, for use as a sparse database. A dense tracking subsystem processes and stores as a dense database every successive one of the image data strips representing location along the route, whereby the dense tracking subsystem provides more accurate location of the vehicle when it retraces some portion of the route than the sparse tracking subsystem. After the sparse and dense databases are established, the location of the vehicle in real time as it retraces the route is performed by the dense tracking subsystem matching current image data strips from the visual image detector with the dense database strips to determine the location of the vehicle, as long as the vehicle stays on the pre-established route. If the vehicles strays from the route, the system senses the deviation and switches to the sparse tracking system to search a broader area in less time than the dense tracking system to attempt to relocate the vehicle along the route, after which the system switches back to the dense tracking subsystem.
摘要翻译：用于自动跟踪车辆位置的系统包括安装在车辆上的视觉图像检测器，用于随着车辆沿着路线沿着路线沿着路线在相应位置处沿着路线数字化的图像数据条表示代表连续的关于车辆的景观的全景图。稀疏跟踪子系统处理并存储沿着路线表示基本上间隔开的连续位置的图像数据带中的所选择的一个，用作稀疏数据库。密集跟踪子系统处理和存储每个连续的一个图像数据带中的密集数据，表示沿着路线的位置，由此密集跟踪子系统在回溯路径的某些部分比稀疏跟踪子系统时提供更准确的位置。在建立稀疏和密集的数据库之后，通过密集跟踪子系统利用密集数据库条带从视觉图像检测器匹配当前图像数据条来执行车辆在重新路线时的实时位置，以确定该位置车辆，只要车辆停留在预先建立的路线上。如果车辆从路线偏离，则系统感测到偏差，并切换到稀疏跟踪系统，以比密集跟踪系统更少的时间搜索更广泛的区域，以尝试沿着路线重新定位车辆，之后系统切换回密集跟踪子系统。

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