A processing system processes probe data to determine a change in a number of vehicles parked in an area, the probe data comprising information on probe traces for a plurality of probes. The processing system identifies occurrence of an event based at least on the determined change in the number of vehicles parked in the area. The processing system causes the identified occurrence of the event to be used for performing one or several operations.
G08G 1/065 - Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
G08G 1/01 - Detecting movement of traffic to be counted or controlled
A method of determining a correspondence between first and second digital maps is disclosed. Each map comprises a plurality of arcs connected by nodes representing the road network in a geographic area. A line location representing a route with respect to the first digital map for which a correspondence is required with respect to the second digital map is input to a correspondence module. The module uses map linkage data to determine corresponding location data with respect to the second digital map for use in providing a vehicle horizon. The map linkage data comprises data indicative of a plurality of arc sections of the first digital map, and, for each arc section of the first digital map, data indicative of a corresponding arc section of the second digital map. The map linkage data enables, for a starting arc section in either one of the first and second digital maps, a corresponding arc section in the other one of the first and second digital maps to be obtained. Data is generated for output indicative of the determined corresponding location data with respect to the other one of the first and second digital maps.
A method for providing data to one or more vehicles for controlling respective automated driving systems of the one or more vehicles, the method comprising: receiving an indication of a vehicle fleet; obtaining, from a restriction repository storing restriction data that indicates one or more location-dependent driving automation restrictions for automated driving systems, restriction data that corresponds to a portion of a road network and that is applicable to the indicated vehicle fleet; generating, or performing an update process for, a driving automation restriction layer for an amount of map data that corresponds to the portion of the road network based on the obtained restriction data; and providing the amount of map data, with the driving automation restriction layer, to one or more vehicles in the vehicle fleet.
The invention relates to a method of training a model for use in semantic image segmentation. The model includes a first classifier neural network and a second classifier neural network. The method includes training the first network by inputting a first training image containing a target object to the first network, using the first network to identify and erase pixels of the first training image that are discriminative for the target object, inputting the first training image to the second network, using the second network to determine a likelihood of the first modified training image containing the target object and updating weights of the first network using a first loss function that is a monotonically-increasing function of the determined likelihood.
A device is provided to extract scan lines data from images of a route, said scan line data comprising only a portion of the an image that extends along a scan line, and to store this data in memory together with respective positional data pertaining to the position of the device traveling along the route in a navigable network. This scan line and positional data can be obtained from a plurality of devices in a network and transmitted to computing apparatus, for example, for use in a production of a realistic view of a digital map.
Disclosed herein is a technique for the generating and provision of digital map data that is safe and reliable. The technique enables the verification of the digital map data in a map-client using a simple and efficient data structure to check the correctness of the map data before in-vehicle delivery to components that rely on this map data.
G01C 21/00 - Navigation; Navigational instruments not provided for in groups
H04L 9/32 - Arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system
A computer processing system is configured to train a model for use in semantic image segmentation. The model comprises a refinement neural network, a discriminator neural network. The refinement neural network is configured to receive a predicted label distribution for an image, obtain one or more random values from a random or pseudo-random noise source, use the one or more random values to generate a plurality of predicted segmentation maps from the received predicted label distribution and output the plurality of predicted segmentation maps to the discriminator neural network. The computer processing system is configured to train the refinement neural network using an objective function that is a function of an output of the discriminator neural network and that further includes a term representative of a difference between the predicted label distribution and an average of the plurality of predicted segmentation maps output by the refinement neural network for the predicted label distribution.
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
Disclosed herein is a technique for processing map change data in a map client that uses the map changes to apply changes and updates to current map data. The map client provides the updated map data to other components in an autonomous vehicle. The map change data describes the processing in the map client to obtain updated map data from the map data.
A method and system for determining a geographical location and orientation of a vehicle travelling through a road network is disclosed. The method comprises obtaining, from one or more cameras associated with the vehicle travelling through the road network, a sequence of images reflecting the environment of the road network on which the vehicle is travelling, wherein each of the images has an associated camera location at which the image was recorded. A local map representation representing an area of the road network on which the vehicle is travelling is then generated using at least some of the obtained images and the associated camera locations. The generated local map representation is compared with a section of a reference map, the reference map section covering the area of the road network on which the vehicle is travelling, and the geographical location and orientation of the vehicle within the road network is determined based on the comparison. Methods and systems for generating and/or updating an electronic map using data obtained by a vehicle travelling through a road network represented by the map are also disclosed.
G06F 16/587 - Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using geographical or spatial information, e.g. location
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
10.
High Definition Map Metadata for Autonomous Vehicles
Disclosed herein is a technique for generating and providing an indication to an autonomous vehicle regarding the confidence level for the accuracy or quality of the map data in which the indication is determined from observation data received from other vehicles.
The present disclosure generally relates to a methods and systems for compensating for changes in the absolute position of locations with respect to the Earth's surface which occur over time due to crustal dynamics. The invention is particularly, although not exclusively, concerned with such compensation in the context of methods using digital map data, for example, methods of localization of a vehicle.
A method of training a generative adversarial network for performing semantic segmentation of images. The generative adversarial network includes a generator neural network and a critic neural network. The method includes using the generator neural network to generate predicted image segmentation maps from input images, wherein each predicted image segmentation map includes a classification prediction for each of a plurality of pixels of a respective input image, providing predicted image segmentation maps generated by the generator neural network to the critic neural network, training the critic neural network to determine weights for respective pixels of a predicted image segmentation map generated by the generator neural network, wherein the weight for each pixel is used to weight a pixel-wise cross entropy term in an objective function for the critic neural network, and using the weights determined by the critic neural network to train the generator neural network.
G06V 10/774 - Generating sets of training patterns; Bootstrap methods, e.g. bagging or boosting
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
G06V 10/26 - Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
There is provided a method for identifying possible errors/inconsistencies within an electronic map representation of a network of navigable elements within a geographic area, the method comprising: obtaining at a server positional data relating to the movement over time of a plurality of devices travelling around the navigable network; processing the obtained positional data at the server with reference to the electronic map representing the navigable network in order to identify potential inconsistencies in the map in the form of one or more locations within the navigable network where an observed behaviour of devices travelling around the navigable network as indicated by the obtained positional data is not consistent with a behaviour that would be expected based on the electronic map. This information may then be relayed to navigation devices for supplementing the electronic map when generating navigation instructions.
Methods and systems for improved positioning accuracy relative to a digital map are disclosed, and which are preferably used for highly and fully automated driving applications, and which may use localisation reference data associated with a digital map. The invention further extends to methods and systems for the generation of localisation reference data associated with a digital map.
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 13/89 - Radar or analogous systems, specially adapted for specific applications for mapping or imaging
G01C 21/28 - Navigation; Navigational instruments not provided for in groups specially adapted for navigation in a road network with correlation of data from several navigational instruments
G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
A method, apparatus, system and computer program for updating a map. Certain examples provide a method (100) of updating map data (512) for a map (200) stored on an apparatus (500), wherein the map (200) is partitioned into a plurality of geographical areas 2031-203n, the method comprising: receiving location information (201) representative of one or more journeys of a user; using the location information (201) representative of one or more journeys of the user to determine a first set of one or more of the plurality of geographical areas 2041, 2042; defining a first region (205) of the map (200) based on the first set of one or more of the plurality of geographical areas 2041, 2042; determining whether the stored map data (513) for the geographic areas 2041, 2042 of the first region (205) are up-to-date; and responsive to determining that the stored map data (513) for at least one of the geographic areas 2041, 2042 of the first region (205) is not up-to-date, selecting a first communication means for receiving updated map data for the at the least one of the geographic areas 2041, 2042 of the first region (205).
A method is provided of training a generative adversarial network for performing semantic segmentation of images. The generative adversarial network includes a generator neural network and a discriminator neural network. The method includes providing an image as input to the generator neural network, receiving a predicted segmentation map for the image from the generator neural network, providing i) the image, ii) the predicted segmentation map, and iii) ground-truth label data corresponding to the image, as distinct training inputs to the discriminator neural network, determining a set of one or more outputs from the discriminator neural network in response to said training inputs, and training the generator neural network using a loss function that is a function of said set of outputs from the discriminator neural network.
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
A device is provided to extract scan lines data from images of a route, said scan line data comprising only a portion of the an image that extends along a scan line, and to store this data in memory together with respective positional data pertaining to the position of the device traveling along the route in a navigable network. This scan line and positional data can be obtained from a plurality of devices in a network and transmitted to computing apparatus, for example, for use in a production of a realistic view of a digital map.
Methods and systems for classifying data points of a point cloud indicative of the environment around a vehicle by using features of a digital map relating to a deemed current position of the vehicle. Such methods and systems can be used to detect road actors, such as other vehicles, around a vehicle capable of sensing its environment as a point cloud; preferably used by highly and fully automated driving applications.
G01C 21/32 - Structuring or formatting of map data
G06T 3/00 - Geometric image transformation in the plane of the image
G01S 19/46 - Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
G01S 7/48 - RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - Details of systems according to groups , , of systems according to group
G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
G01S 17/06 - Systems determining position data of a target
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 7/41 - RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - Details of systems according to groups , , of systems according to group using analysis of echo signal for target characterisation; Target signature; Target cross-section
G01S 13/42 - Simultaneous measurement of distance and other coordinates
G01S 13/89 - Radar or analogous systems, specially adapted for specific applications for mapping or imaging
G01S 19/49 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
G01S 19/48 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
G01S 13/931 - Radar or analogous systems, specially adapted for specific applications for anti-collision purposes of land vehicles
19.
Methods and systems for generating and using localization reference data
Methods and systems for improved positioning accuracy relative to a digital map are disclosed, and which are preferably used for highly and fully automated driving applications, and which may use localisation reference data associated with a digital map. The invention further extends to methods and systems for the generation of localisation reference data associated with a digital map.
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 13/89 - Radar or analogous systems, specially adapted for specific applications for mapping or imaging
G01C 21/28 - Navigation; Navigational instruments not provided for in groups specially adapted for navigation in a road network with correlation of data from several navigational instruments
G01S 13/86 - Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
A method of operating a controller of a vehicle human machine interface (HMI) is disclosed, comprising: providing first output control signals configured to cause a vehicular head up display (HUD) to present first content to a vehicle operator; and providing second output control signals configured to cause a vehicular digital cluster display (DCD) to present second content to the vehicle operator, different to the first content. The method can further comprise the receiving input control signals from a touch sensitive steering wheel, for interacting with the information presented on the HUD and/or DUD. A related apparatus, vehicular HMI and computer software, are also disclosed.
G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
B60R 1/00 - Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
G06F 3/0488 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
B60K 35/00 - Arrangement or adaptations of instruments
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
G08G 1/0968 - Systems involving transmission of navigation instructions to the vehicle
G08G 1/0962 - Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
21.
Methods and systems for generating and using localization reference data
Methods and systems for improved positioning accuracy relative to a digital map are disclosed, and which are preferably used for highly and fully automated driving applications, and which may use localisation reference data associated with a digital map. The invention further extends to methods and systems for the generation of localisation reference data associated with a digital map.
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 13/89 - Radar or analogous systems, specially adapted for specific applications for mapping or imaging
G01C 21/28 - Navigation; Navigational instruments not provided for in groups specially adapted for navigation in a road network with correlation of data from several navigational instruments
G01S 13/86 - Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
Methods and systems for improved positioning accuracy relative to a digital map are disclosed, and which are preferably used for highly and fully automated driving applications, and which may use localisation reference data associated with a digital map. A vehicle localization is obtained by comparing real time depth map acquired by a sensor associated to the vehicle to a depth map associated to a digital map. The depth maps are indicative of an environment around the vehicle. Longitudinal and lateral offsets of the vehicle with respect to the digital map are determined. The invention further extends to methods and systems for the generation of localisation reference data associated with a digital map.
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 13/89 - Radar or analogous systems, specially adapted for specific applications for mapping or imaging
G01C 21/28 - Navigation; Navigational instruments not provided for in groups specially adapted for navigation in a road network with correlation of data from several navigational instruments
G01S 13/86 - Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
iii generating further map data, which for at least some of the intersections therein, contains the calculated transit time or set of transit times associated with the intersection for which the calculation was made.
A device is provided to extract scan lines data from images of a route, said scan line data comprising only a portion of the an image that extends along a scan line, and to store this data in memory together with respective positional data pertaining to the position of the device traveling along the route in a navigable network. This scan line and positional data can be obtained from a plurality of devices in a network and transmitted to computing apparatus, for example, for use in a production of a realistic view of a digital map.
G01C 21/36 - Input/output arrangements for on-board computers
G01C 21/32 - Structuring or formatting of map data
G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
G09B 29/10 - Map spot or co-ordinate position indicators; Map-reading aids
G01S 19/48 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
A method of determining a longitudinal position of a vehicle (100) relative to a digital map is disclosed in which real time scan data (200, 202) is determined by scanning a lateral environment around the vehicle using at least one range-finder sensor, said real time scan data comprising one or more depth maps, each depth map representing the measured lateral distance to surfaces in the lateral environment for a plurality of longitudinal positions and elevations. Localization reference data associated with the digital map for a deemed current longitudinal position of the vehicle (100) in relation to the digital map is retrieved, and compared to the real time scan data (200, 202) by calculating a cross-correlation to determine a longitudinal offset. The deemed current longitudinal position is adjusted based on said longitudinal offset to determine the longitudinal position of the vehicle (100) relative to the digital map.
H04N 13/00 - PICTORIAL COMMUNICATION, e.g. TELEVISION - Details thereof
G01C 21/28 - Navigation; Navigational instruments not provided for in groups specially adapted for navigation in a road network with correlation of data from several navigational instruments
A method of detecting the closure of a navigable element forming part of a network of navigable elements within a geographic area. A server obtains positional data relating to the movement of a plurality of devices along the navigable element with respect to time. The positional data is used to determine an elapsed time since a device was last detected on the navigable element, and the determined elapsed time is compared to an expected time interval between consecutive devices being detected on the navigable element. The navigable element is identified as being potentially closed, subject to one or more optional validation steps, when the determined elapsed time exceeds the expected time interval, e.g. by a predetermined amount.
A method for improving and extending an existing road network and generating new networks from statistically relevant amounts of probe data recorded by GPS-enabled navigation devices. New probe data is matched to the existing digital vector map, then the data merged into the existing network using a weighted mean technique. When new roads are detected, appropriate junction points are made with the existing network elements. The updated network data is simplified to improve computing speed and reduce data storage requirements.
A method of determining trajectories (1810-1813) through at least one junction of a transportation network for display on a visual representation of a digital map, the digital map comprising data that is a digital representation of the transportation network. The method comprises obtaining positional information relating to the movement of a plurality of mobile devices with respect to time on the transportation network through an area (1801) comprising the at least one junction, the border of the area being divided into a plurality of segments. The positional information is used to create an entry histogram (1802) by determining a count of positional information that enters the area at each segment of the border and an exit histogram (1804) by determining a count of positional information that exits the area at each segment of the border; the histograms subsequently being used to define one or more entry (1806) and exits (1808) gates into and out of the area (1801). A trajectory through the area is assigned to pairs of entry and exit gates using the positional information.
A method of analyzing points of interest (22) using traces from probe data is provided. The method includes providing a database of a digital vector map (18) configured to store a plurality of traces (1′-14′) representing roads. The method further includes collecting probe data from vehicles traveling along the traces. Then, bundling a group of select traces (2′, 5′, 7′, 9′, 11′) having routes with a common origin (20) and at least one divergence point (24, I) downstream from the origin (20) and building a database of vehicle maneuvers over the routes. Further, computing average speeds and delay times of a random population of vehicles traversing the vehicle maneuvers. Further yet, computing average speeds and delay times of all vehicles traversing the routes. Then, comparing the computed results from the random population of vehicles with the computed results from all vehicles traversing said routes.
A method is disclosed involving receiving GPS data from a personal portable training device. A smoothing operation is performed on the GPS data to generate a more accurate representation of the route travelled for display to a user (504). In the smoothing operation, a cubic spine algorithm is used to obtain an initial estimate of the route representation (500). The estimate is then subjected to a refinement using at least received user motion data recorded by the personal training device (502). In addition one or more of: data indicative of the GPS accuracy; historical route data; and digital map data, such as building footprints and bodies of water, may be used in refining the estimate.
G01S 19/49 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
31.
Method and apparatus for providing navigational guidance using the states of traffic signal
A method and apparatus for predicting traffic on a transportation network where real time data points are missing. In one embodiment, the missing data is estimated using a calibration model comprised of historical data that can be periodically updated, from select links constituting a relationship vector. The missing data can be estimated off-line whereafter it can be used to predict traffic for at least a part of the network, the traffic prediction being calculated by using a deviation from a historical traffic on the network. The invention further discloses a method for in-vehicle navigation; and a method for traffic prediction for a single lane.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
G06G 7/70 - Analogue computers for specific processes, systems, or devices, e.g. simulators for vehicles, e.g. to determine permissible loading of ships
G06G 7/76 - Analogue computers for specific processes, systems, or devices, e.g. simulators for traffic
G08G 1/00 - Traffic control systems for road vehicles
G01C 21/36 - Input/output arrangements for on-board computers
G08G 1/01 - Detecting movement of traffic to be counted or controlled
G08G 1/0968 - Systems involving transmission of navigation instructions to the vehicle
A system and method for generating a seamless road network of a large geographical area includes a plurality of GPS probe traces extending across a geographical area. The probe traces are divided into sub-sets base on criteria, such as accuracy. A plurality of threads simultaneously employ the sub-sets traces to generate an independent network of the entire geographical area. The networks generated using sub-sets having a high accuracy are preferred over networks generating using sub-sets having a lower accuracy. The independent networks are combined to form a seamless networks of road segments.
An improved method for matching traces derived from probe data to one or more line segments in a digital vector map. Points in a probe trace are provisionally matched one-by-one to line segments in the digital vector map to identify all possible matching candidates. A graph of the matching candidates is created having one or more paths. The graph has a plurality of sequential levels corresponding to the points in the probe trace. Each matching candidate is assigned to a level of the graph corresponding with trace point to which it relates. Edges are established between matching candidates in adjacent levels provided they are topologically related to one another. The graph is simplified and scored. The best paths deliver the matching results. The invention allows use of graph theoretic methods to find the best path through the graph, which in turn represents an efficient map matching algorithm. The concepts of this invention may be used in conjunction with longitudinal distance as matching criterion.
Embodiments of the present invention provide a method for identifying discrepancies in digital map data, comprising selecting one or more candidate locations as a subset of locations within positional data relating to the movement of a plurality of devices with respect to time in an area, allocating each of the candidate locations to one or more predetermined categories based upon a distribution of travel directions of the devices at each candidate location and comparing the candidate locations against a database of map data and identifying locations of possible discrepancies in the digital map data based upon the category of each candidate location.
A method of producing a textured or pseudo-3D image of one or more map objects is provided comprising acquiring at least one image representing at least part of the one or more map objects. Laser scan data is acquired for the at least one map object, the laser scan data representing distances from a laser scanner to one or more points on at least one surface of the at least one map object. Texture or lighting data associated with the at least one map object is generated from the laser scan data, and the texture or lighting data and the image is processed in order to generate at least one textured or pseudo 3D image at least partially representing the one or more map objects.
Embodiments of the present invention relate to a navigation system, comprising data storage means arranged to store at least digital map data, traffic state information, and places of interest data, and a route planning module operably coupled to the data storage means and arranged to provide access to the digital map data and calculate a route to a destination, a traffic state interrogator operably coupled to the data storage means and arranged to access said traffic state information and to determine traffic status information relevant to said calculated route to the destination, a places data interrogator operably coupled to the data storage means and arranged to access said places of interest data and to determine relevant information portions about places of interest on the calculated route dependent on the determined traffic status information, and a navigation instruction generator operably coupled to the data storage means and arranged to generate navigation instructions including the relevant information portions about places of interest on the calculated route in response to the determined traffic status.
A method of processing probe trace data to determine a measure of correlation of a probe trace with other probe traces comprises obtaining a map that associates a parameter space with a plurality of pixels, wherein at least one correlation value is assigned to each of the plurality of pixels, and determining a correlation score for a probe trace by mapping the probe trace to at least one pixel of the map and determining the correlation score for the probe trace from at least one correlation value of the at least one pixel to which the probe trace is mapped.
A method for improving and extending an existing digital road network and generating new networks from statistically relevant amounts of probe data recorded by GPS-enabled navigation devices. New probe data is matched to the existing digital map, then the data merged into the existing network using a time-dependent weight and/or accuracy-dependent weight. A recalculation date is established, and the weight value of a line segment and/or trace is adjusted as a function of the time span relative to the recalculation. The function may include setting a maximal time period divided into bins each having a respective weight reduction factor, or applying decay function. Through this technique, digital maps can be updated and extended without undue influence exerted by old trace data.
A method for providing map data composed of providing geospatial map data pre-rendered into a plurality of raster graphic files, where each of the raster graphic files comprising a plurality of image pixels each having pixel data information Additional map data is embedded into at least one of the raster graphic files by altering the pixel data information The additional map data is then delivered simultaneously with the raster graphics files.
G06F 15/16 - Combinations of two or more digital computers each having at least an arithmetic unit, a program unit and a register, e.g. for a simultaneous processing of several programs
G01C 21/32 - Structuring or formatting of map data
G01C 21/36 - Input/output arrangements for on-board computers
G09B 29/00 - Maps; Plans; Charts; Diagrams, e.g. route diagrams
G08G 1/0962 - Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
Methods of pre-processing probe trace data include examining a sequential dataset for a route of travel between two points, identifying at least one anomaly in the sequential dataset, identifying at least one datum of the sequential dataset occupying a sequential position adjacent to the identified at least one anomaly, and inserting at least one non-anomalous datum to occupy a sequential position of the identified at least one anomaly in the sequential dataset, the at least one non-anomalous datum being determined based on one of extrapolation, smoothing and interpolation of the at least one datum.
A method of detecting errors in road characteristics in a transportation network database includes collecting sequential location measurements from probes traversing between two end points, fitting trace segments having a curved or linear shape between the sequential location measurements collected from the probes to form a probe trace, comparing a position of the probe traces with a position of a calculated path between the two end points, where the calculated path is formed from linked transportation network segments each of the linked transportation segments having a curved or linear shape, where the calculated path follows the road characteristics defined by the attributes associated with the linked transportation segments, and identifying a potential error in the attributes if a probe trace deviating in position from the calculated path is greater than a deviation threshold.
H03M 13/00 - Coding, decoding or code conversion, for error detection or error correction; Coding theory basic assumptions; Coding bounds; Error probability evaluation methods; Channel models; Simulation or testing of codes
G01C 21/32 - Structuring or formatting of map data
G06F 11/34 - Recording or statistical evaluation of computer activity, e.g. of down time, of input/output operation
A method of verifying or filling in attribution associated with segments of transportation networks that are digitally mapped from a digital transportation network database includes analyzing the database to identify at least one attribute of interest that is missing or whose accuracy is unreliable and associated with a segment of the network in; identifying first and second segments before and after segment in question which have associated attribution determined to be accurate; gathering a plurality of probe traces from users of probe-transmitting navigation devices that have traversed the segment(s) in question as well as traversed the first and second; and determining whether the probe-derived attribution information is reliable, and if so, comparing the trend of the probe-derived attribute information of the first and second segments with the trend of the database attributes of the first and second segments, and if there is a positive correlation, applying the probe-derived attribute information to the database for the segment(s) in question to fill in the missing or verify the unreliable database attribution for the segment(s) in question.
A method for updating speed limit, service stop location, or other attributes for road segments in a digital map (18) by extrapolating probe data from a subset of probe data which has been profiled to have originated from trustworthy probe traces. Probe measurements from a plurality of probes is collected and profiled against known information. From this, a subset of trustworthy probes is identified, comprising those probe traces which observe the known attribute of interest within an acceptable range for a majority of the driving time. These trustworthy probe traces are tracked during travel on other road segments whose attribute data is unknown or unreliable. A specification for the unknown or unreliable attribute on the other road segments can be extrapolated based on the collected information from all of the trustworthy probe traces as they travel that road segment. The digital map (18) can then be updated by setting attribute information in relation to the extrapolated behavior data. If atypical behavior is noticed in areas where there is high confidence of the particular attribute, then all probe measurements may be categorically rejected as unreliable.
A computerized method of creating map data from a plurality of trips where each trip comprises position data derived from the positions of at least one navigation device over a period of time, the method comprising using a processing circuitry to perform the following steps: i. processing the position data; ii. calculating, from the processing of the position data, trip terminal positions at which the navigation device started to generate positions and/or stopped generating positions and which provide an end point of a trip; iii. performing statistical analysis on the terminal positions in order to determine origin locations at which trips commonly terminate and/or originate; iv. generating further map data, which comprises the origin locations.
A geospatial object property assessment apparatus comprises a processing resource (102) arranged to support a geospatial object property processor (206) comprising a subject data source input (212) capable of receiving a first metadata associated with 10 quality of current source information content used to define a property (408) of a geospatial object; a resource data source input (214) capable of receiving a second metadata associated with quality of candidate resource information content for updating the definition of the property (408) of the geospatial object. The apparatus also comprises an assessment processor (208) operably coupled to the inputs (212, 214), the 15 assessment processor (208) being arranged to use the first metadata and the second metadata in accordance with a predetermined ruleset in order to determine whether the candidate resource information content constitutes a qualitatively better resource to define the property of the geospatial object than the current source information content.
A location point determination apparatus comprises a geographic feature harvesting module (202) arranged to access and collect, when in use, geographic feature information associated with a predetermined named area datum. The apparatus also comprises a data assessment module (208) arranged to receive the geographic feature information collected by the geographic feature harvesting module and to evaluate from the geographic feature information collected in respect of at least one attribute of each geographic feature associated with the geographic feature information. The apparatus further comprises a selection module (210) arranged to select a geographic feature from the geographic features evaluated in accordance with a predetermined criterion associated with the evaluation of the geographic feature information.
Embodiments of the present invention provide a method of generating a shaped line in a geographic data information system, comprising selecting a first shaped line (100) in the geographic data information system, determining (205) a clothoid spline (300) representation of the shaped line, determining (210) a location of a first shape point corresponding to the clothoid spline (300) and determining (235) a location of a second shape point corresponding to the clothoid spline (300), wherein the location of the second shape point is determined (510) to be a maximum chord length from the first shape point within a predetermined tolerance.
Embodiments of the present invention provide a method of determining a location at which a lane divider marking changes type, comprising determining (350) a first type of lane divider (120) marking based upon a frequency spectrum determined by Fourier analysis of first image data (431) corresponding to a first area, determining (350) a second type of lane divider (130) marking based upon a frequency spectrum determined by Fourier analysis of second image data (432) corresponding to a second area, and determining (360) a geographic location at which the lane divider marking changes type according to a comparison of the first and second types (120, 130) of lane divider marking.
In a method for creating a digital representation of a transportation network, acquired probe traces are refined based on characteristics of the transportation network. Geographic objects associated with the transportation network are identified based on the refined probe traces. A digital geographic network is built based on the refined probe traces and identified geographic objects, and the digital representation of the transportation network is created by linking the identified geographic objects in the digital geographic network.
In a method for creating a digital representation of a transportation network location measurement data is acquired, and a plurality of maneuvers between choke points are generated from the location measurement data. The digital representation of the transportation network is then created and stored based on the plurality of maneuvers.
Some embodiments provide a method of determining speed information for one or more road segments in map data by receiving probe data relating to the one or more road segments, determining a speed formula for the one or more road segments based on the probe data, and determining the speed information for the one or more road segments according to the speed formula.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
Embodiments of the present invention relate to a method of determining speed information, comprising receiving traffic monitoring information navigation devices (610), wherein the traffic monitoring information includes identification information identifying a mobile device (630), location information indicating a geographic locations (910, 920) at which the identification information was received from the mobile device (630), and temporal information indicating times at which the identification information was received, and determining speed information associated with the mobile device from the traffic monitoring information.
In at least one embodiment, a method is disclosed that includes determining algorithmically a a plurality of vehicle cost values for traveling a plurality of road segments in a vehicle based at least in part on vehicle cost data derived at least in part from position derivative data obtained from at least one vehicle that traveled the road segments (S1); associating each of the plurality of road segments with at least one of the vehicle cost values (S2); and storing the determined vehicle cost values in a memory device (S3). In at least one embodiment, a method for determining a route of travel from a first location to a second location is disclosed. Other embodiments include a map database, storable on a storage medium; a device including a memory (230) storing a map database, a processor (210) and an output device (260); and a device for use in a vehicle, where the device includes a GPS receiver (250), a memory (230) and a processor (210).
Probe data collected at times of low traffic density is analyzed to derive a Raw Road Design Speed Limit (RRDSL, 16) for each road segment or group of segments in a digital map. The RRDSL (16), comprised of longitudinally distributed speeds, is associated with the road segment and stored in a digital medium to indicate the limits of the road section in free flow traffic. The longitudinally distributed speeds may be limited by local speed limits or other business logic to establish a Legal Raw Road Design Speed Limit (LRRDSL, 17). Either the RRDSL (16) or the LRRDSL (17) can be further modified to smooth acceleration and deceleration rates between changes in the longitudinally distributed speeds to create an Optimal Longitudinal Speed Profile (OLSP, 18), which represents optimized energy consumption. A signal can be produced if a driver's current speed rises unacceptably above a longitudinally distributed speed in real time. The signal can be audible, visible and/or haptic. Real-time traffic density information can be inferred by comparing current speed data to the longitudinally distributed speed for that position. If the current speed is consistently lower than the longitudinally distributed speed for that position, an inference is drawn that the road section is inefficient. Road efficiency assessments can be transmitted to a service center and/or other vehicles, and used by navigation software.
A method and system are disclosed. In at least one embodiment, the method includes at least one of obtaining and receiving information regarding at least one location reference at a server (302) for transmission to at least one remote device; determining at least one path of the at least one location reference corresponding to at least one pair of points within mapping information at the server (302); computing at least one focusing factor at the server (302) based upon encoded information corresponding to the determined at least one path of the at least one location reference, and enhancing the at least one location reference by the computed at least one focusing factor; and transmitting the at least one location reference enhanced by the computed at least one focusing factor from the server (302) to the at least one remote device.
A method of generating a geodetic reference database product is disclosed The method comprises acquiring mobile mapping data captured by means of digital cameras, range sensors and position determination means including GPS and IMU mounted to a vehicle driving across the earth surface, the mobile mapping data comprising simultaneously captured image data, range data and associated position data in a geographic coordinate system. Linear stationary earth surface features are derived from the mobile mapping data by processing the image data, range data and associated position data. 3D-models are generated for the linear stationary earth surface features in the geographic coordinate system from the image data, range data and associated position data and stored in a database to obtain the geodetic reference database product. A 3D-model could include an image representing the colors of the surface of the 3D model or a set of smaller images representing photo-identifiable objects along the model. The 3D-models could be used to rectify aerial imagery, to correct digital elevation models and to improve the triangulation of digital elevation models.
G01C 21/28 - Navigation; Navigational instruments not provided for in groups specially adapted for navigation in a road network with correlation of data from several navigational instruments
G06F 17/30 - Information retrieval; Database structures therefor
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 13/89 - Radar or analogous systems, specially adapted for specific applications for mapping or imaging
A data enrichment processing apparatus (100) comprises a processing resource (154) arranged to access, when in use, location data (300) having temporal data associated therewith, and to group a part of the location data according to a predetermined criterion. The processing resource (154) is arranged to support an analysis module (268) capable of inferring temporal access information from the part of the location data grouped, the temporal access information being indicative of ability to access physically a point of interest associated with the part of the location data grouped.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
A method, database, memory computer readable medium and navigation device are disclosed. In at least one embodiment, the method includes projecting a plurality of known address points onto an address segment vector of a source map database, to create projection points; interpolating locations for addresses of the address points, to create corresponding interpolation points; and segmenting the address segment vector into a plurality of address sub-segment vectors, upon a distance between a projection point and a corresponding interpolation point exceeding a threshold distance. Embodiments include a memory including a digital map application database storing the address sub-segment vectors of the method, at least one of in place of and in addition to corresponding address segment vectors, upon an address segment vector being segmented; a navigation device including the memory; a digital map application database including a plurality of address segment vectors and a plurality of address sub-segment vectors and a computer readable medium including the digital map application database.
A method of reducing the spatial resolution of images is disclosed. At least one embodiment of the method includes: —acquiring an input image including image parts having a spatial resolution larger than SR pixels/meter; —acquiring a depth map associated with the input image; —determining for each pixel p(x,y) a spatial resolution value by means of the depth map; —processing a region of pixels of the input image for which holds that the spatial resolution value is larger than a predefined threshold corresponding to SR pixels/meter to obtain a corresponding region of pixels having a spatial resolution smaller then or equal to SR pixels/meter in an output image. The method enables to removes privacy information from images by reducing the spatial resolution to a level that the privacy information cannot be recognized in the image anymore.
A navigation device includes a locator for determining a location of the navigation device, a processor, an audio output device and/or a display controllable by the processor, and a store for map data and historical data. The historical data includes historical information about a location and a location identifier identifying the location. The processor is arranged to control the audio output device and/or display to convey the historical information as an audio and/or visual output in response to the processor determining from the locator that the navigation device is in the vicinity of the location identified by the location identifier.
G01S 1/00 - Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
61.
Method of creating map data comprising transit times for intersections
A computerized method is disclosed of creating map data from position data derived from the positions of at least one vehicle over a period of time, the map data including a plurality of navigable segments representing segments of a navigable route in the area covered by the map and the map data also including intersections between navigable segments representing intersections in the navigable route. In at least one embodiment, the method includes using a processing circuitry to perform the following: i. processing the position data; ii. calculating from the processing of the position data a transit time or set of transit times for at least some of the intersections in the map data; and iii generating further map data, which for at least some of the intersections therein, contains the calculated transit time or set of transit times associated with the intersection for which the calculation was made.
A technique is disclosed for enabling collection and/or refinement of digital map information for aiding navigation route planning for vehicles larger than ordinary cars, such as goods-vehicles, buses, and car+caravan combinations. In at least one embodiment, a profile of a vehicle's characteristics, and one or more routes followed, are logged by a navigation device, and fed-back to a server that supports the navigation device with map data updates. At the server, or an alternative processing centre, the fed-back data from plural navigation devices is analysed to observe statistically the patterns of roads used by these vehicles, and to categorise these by the type of vehicle.
Embodiments of the present invention provide an apparatus including a display device for displaying graphical information; a processor arranged to control the display device to display the graphical information; a store for color mapping information, the information being representative of a relationship between orientation-related information of a trajectory and color; and a trajectory-color module for determining orientation-related information of a trajectory and a color according to the determined information and the color mapping information. In at least one embodiment, the processor is responsive to the trajectory-color module to control the display device to display a graphical element at least partly in the determined color.
A method of generating a junction view is disclosed. The method includes, in at least one embodiment:—acquiring a first junction from a map database;—acquiring a second junction from the map database, wherein the first and second junction are connected by way of an intermediate road segment;—determining a characteristic of the intermediate road segment between the first and second junction from the map database; and—if the characteristic of the road segment applies to a predefined condition:—adjusting the road geometry resulting in a shorter intermediate road segment; and—generating the junction view image visualizing the first and second junction using the shorter intermediate road segment. At least one embodiment of the method provides a solution to visualize in one image two decision points which will follow each other in a short time when traveling through the two decision points, i.e. two junctions.
A method of processing camera data of a mobile mapping system is disclosed. In at least one embodiment, the method includes a) obtaining camera data from at least one camera of the mobile mapping system, b) detecting at least one region in the camera data, c) applying a compression technique on the camera data in a first region, and d) obtaining range sensor data from at least a first range sensor. The range sensor data may at least partially correspond to the camera data. Also, in at least one embodiment, b) includes using the range sensor data to identify the at least one region in the camera data.
H04N 9/47 - Colour synchronisation for sequential signals
H04N 19/17 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object
A method of and arrangement for mapping first range sensor data from a first range sensor to image data from a camera are disclosed. In at least one embodiment, the method includes: receiving time and position data from a position determination device on board a mobile system, as well as the first range sensor data from the first range sensor on board the mobile system and the image data from the camera on board the mobile system; identifying a first points cloud within the first range sensor data, relating to at least one object; producing a mask relating to the object based on the first points cloud; mapping the mask on object image data relating to the same object as present in the image data from the at least one camera; and performing a predetermined image processing technique on at least a portion of the object image data.
G01C 21/28 - Navigation; Navigational instruments not provided for in groups specially adapted for navigation in a road network with correlation of data from several navigational instruments
G01C 21/00 - Navigation; Navigational instruments not provided for in groups
G01C 11/02 - Picture-taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
A method of producing lane information for use in a map database is disclosed. In at least one embodiment, the method includes acquiring one or more source images of a road surface and associated position and orientation data, the road having a direction and lane markings parallel to the direction of the road; acquiring road information representative of the direction of said road; transforming the one or more source images to obtain a transformed image in dependence of the road information, wherein each column of pixels of the transformed image corresponds to a surface parallel to the direction of said road; applying a filter with asymmetrical mask on the transformed image to obtain a filtered image; and producing lane information from the filtered image in dependence of the position and orientation data associated with the one or more source images.
A method of producing linear features along a reference-line across a surface for use in a map database is disclosed. In at least one embodiment, the method includes generating, from reference-line data representative of coordinates of the reference-line in a geographic coordinate reference system and source images of the surface adjacent to the reference-line and associated position and orientation data in the geographic coordinate reference system, a reference-line referenced data set, wherein the reference-line referenced data set includes a plurality of sets of image data and associated data defining a reference-line' across a surface in the geographic coordinate reference system, the sets of image data including pixels wherein a set of image data corresponds to an orthorectified view representation of a line section of the surface in the geographic coordinate reference system, each set of image data includes a reference pixel being associated with a position on the reference-line, wherein each pixel represents a surface having a position at a distance from the position of the reference pixel along the line section, and wherein the line section perpendicularly crosses the reference-line at the position associated with the reference pixel; and, post processing the reference-line referenced data set to produce linear features along the reference-line and associated locations in the geographic coordinate reference system for use in a map database.
A method of identifying a planar object in source images is disclosed. In at least one embodiment, the method includes: retrieving a first source image obtained by a first terrestrial based camera; retrieving a second source image obtained by a second terrestrial based camera; retrieving position data associated with the first and second source image; retrieving orientation data associated with the first and second source image; performing a looking axis rotation transformation on the first and second source image by use of the associated position data and orientation data to obtain first and second intermediate images, wherein the first and second intermediate images have an identical looking axis; performing a radial logarithmic space transformation on the first and second intermediate images to obtain first and second radial logarithmic data images; detecting an area in the first image potentially being a planar object; comparing the potential planar object having similar dimensions in the second radial logarithmic data image and similar rgb characteristics; and finally, identifying the area as a planar object and determining its position. At least one embodiment of the method enables the engineer to detect very efficiently planar perpendicular objects in subsequent images.
A computer arrangement is disclosed, including a processor that can communicate with a memory. The memory stores a computer program that can be run by the processor, and stores a set of laser scan samples including a sub-set of laser scan samples relating to a façade of a building and stores location data as to each laser scan sample. The memory also stores a picture of the same façade including location data as to pixels of the picture. The picture includes data as to a wall of the façade and data as to texture elements in the wall. In at least one embodiment, the processor automatically identifies the wall and the texture elements in the picture while using the laser scan samples.
A method is disclosed for generating an orthorectified tile. In at least one embodiment, the method includes retrieving source images obtained by way of a terrestrial based camera; retrieving position data associated with the source images; retrieving orientation data associated with the source images; and converting source image by means of corresponding position data and orientation data to obtain the orthorectified tile. Orthorectified tiles are used to generate an orthorectified mosaic. As such, images recorded by terrestrial based camera may be used to generate a map of a road surface with corresponding road signs.
G09G 5/00 - Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
G09B 29/10 - Map spot or co-ordinate position indicators; Map-reading aids
G06T 3/00 - Geometric image transformation in the plane of the image
G11C 11/02 - Digital stores characterised by the use of particular electric or magnetic storage elements; Storage elements therefor using magnetic elements
A computer arrangement is disclosed, including a processor and a memory that stores a computer program, object data originating from a first source and including object location data, and laser samples originating from a second source, including a sub-set of laser samples relating to the object and including laser sample location data as to each laser sample. In at least one embodiment, the processor compares the object location data and the laser sample location data of the sub-set of laser samples, and matches the object location data to the laser sample location data of the sub-set of laser samples based on this comparison, and thereby corrects for relative positional errors between the first and second sources of location data. The object may be a building façade, for example.
G01C 21/28 - Navigation; Navigational instruments not provided for in groups specially adapted for navigation in a road network with correlation of data from several navigational instruments
G01C 11/02 - Picture-taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
73.
Method and structure for vehicular traffic prediction with link interactions and missing real-time data
A method and apparatus for predicting traffic on a transportation network where real time data points are missing. In one embodiment, the missing data is estimated using a calibration model comprised of historical data that can be periodically updated, from select links constituting a relationship vector. The missing data can be estimated off-line whereafter it can be used to predict traffic for at least a part of the network, the traffic prediction being calculated by using a deviation from a historical traffic on the network. The invention further discloses a method for in-vehicle navigation; and a method for traffic prediction for a single lane.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
G06G 7/70 - Analogue computers for specific processes, systems, or devices, e.g. simulators for vehicles, e.g. to determine permissible loading of ships
G06G 7/76 - Analogue computers for specific processes, systems, or devices, e.g. simulators for traffic
G08G 1/00 - Traffic control systems for road vehicles
74.
Arrangement for and method of two dimensional and three dimensional precision location and orientation determination
In one embodiment of the present invention, a method of and apparatus for determining inaccurate GPS samples in a set of GPS samples is disclosed, according to the following actions: a) obtaining GPS samples as taken by a global positioning system on board a vehicle when traveling along a trajectory; b) obtaining a first estimation of the trajectory based on the GPS samples; c) obtaining a second estimation of the trajectory at least based on measurements made by an inertial measurement unit on board vehicle when traveling along the trajectory; d) comparing the first and second estimations; e) establishing locations where the first estimation shows a variation compared with the second estimation above a predetermined threshold; f) if no such locations can be established continue with action j), otherwise continue with action g); g) removing GPS samples associated with the locations of high variation as being inaccurate GPS samples, thus forming a set of remaining GPS samples; h) calculating the first estimation anew of the trajectory based on the remaining GPS samples and calculating the second estimation anew; i) repeating actions d) to h); j) ending the actions.
G01S 1/00 - Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
75.
Method and apparatus for detecting objects from terrestrial based mobile mapping data
A method of detecting objects from terrestrial based mobile mapping data is disclosed, wherein the terrestrial based mobile mapping data has been captured by way of a terrestrial based mobile mapping vehicle driving on a road having a driving direction, the mobile mapping data including laser scanner data, source images obtained by at least one camera and position and orientation data of the vehicle, wherein the laser scanner data includes laser points, each laser point having associated position and orientation data, and each source image comprises associated position and orientation data. In at least one embodiment, the method includes: retrieving a position and orientation of the vehicle; filtering the laser scanner data in dependence of the position and orientation of the vehicle to obtain laser points corresponding to regions of interest; retrieving a source image associated with the position and orientation of the vehicle; mapping the laser points corresponding to regions of interest to image coordinates of the source image to generate a recognition mask; combining the recognition mask and the source image to obtain candidate 3D images representative of possible objects within the regions of interest; and, detecting a group of objects from the candidate 3D images. By combining image recognition and laser scanner recognition the detection rate can be increased to a very high percentage, thereby substantially reducing human effort. Furthermore, the generating of regions of interest in the laser data, enables a significant reduction of the processing power and/or the processing time needed to detect the objects in the images.
Embodiments of the invention are methods for applying clothoid curve values to roadways in a geographic data information system. One embodiment is a method, comprising: selecting database segments in the geographic data information system, wherein the database segments describe roadways; determining segment chains from the selected database segments; preparing the segment chains for transition to curvature space; transitioning to a curvature function in the curvature space, by computing heading change at points along the segment chain, resulting in a transformation of the segment chains into clothoids; smoothing the curvature function; fitting the smoothed curvature function with a more generalized form which remains within a selected tolerance of the smoothed curvature function; and storing identified segments of straight lines, transition zones, and segments of constant curvature in the geographic data information system.
A method and system for processing a fixed format short message service (SMS) text message for alerting a user of a mobile phone to significant information in the message received by the mobile phone. Program code stored in memory on the mobile phone executes the method on a processor. A value of each preset variable of at least two preset variables is retrieved from the memory on the mobile phone. The mobile phone receives the message from a sender. The message is ascertained to be significant by ascertaining that the received message passes at least one test. Each test utilizes at least one aspect of the received message and the retrieved value of at least one preset variable. Responsive to the ascertaining, default handset settings of the mobile phone are overridden and the user is alerted by an audio tone or vibration that the received message is significant.
A method of encoding a shortened path definition of a path in a mapping system is described. In one embodiment, a shortened path definition includes only those routing points that are needed to eliminate valid alternate routes.
A method and structure for predicting traffic on a network, includes a receiver which receives data related to traffic on at least a portion of a network. A calculator calculates a traffic prediction for at least a part of the network, the traffic prediction being calculated by using a deviation from a historical traffic on the network.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
G06G 7/70 - Analogue computers for specific processes, systems, or devices, e.g. simulators for vehicles, e.g. to determine permissible loading of ships
G06G 7/76 - Analogue computers for specific processes, systems, or devices, e.g. simulators for traffic
G08G 1/00 - Traffic control systems for road vehicles
80.
Method of generating improved map data for use in navigation devices
An end-user can input a correction to a map error, directly on the device. The device is then able to use the correction without external processing of the correction. Hence, it is no longer necessary for an end-user to simply report errors to the map vendor over a web link, then wait for that map vendor to verify the error, update its maps and finally supply the end-user with updates—a cycle that can take months and sometimes years to complete. Instead, the navigation device can use the correction immediately. End-users can also share corrections with other end-users and also with a shared remote server that aggregates, validates and distributes corrections.
An end-user can input a correction to a map error, directly on the device. The device is then able to use the correction without external processing of the correction. Hence, it is no longer necessary for an end-user to simply report errors to the map vendor over a web link then wait for that map vendor to verify the error, update its maps and finally supply the end-user with updates—a cycle that can take months and sometimes years to complete. Instead, the navigation device can use the correction immediately. End-users can also share corrections with other end-users and also with a shared remote server that aggregates, validates and distributes corrections.
A method and system for differentiating duplicate yet disjoint localities, such as cities, within a state or other principal geographic unit of interest is for use with electronic maps and databases. Duplicate locality name entries are stored in a database, locality name database entries are condensed for localities having two or more similar names, and adornments for duplicate locality names are stored in the database. In the adornment selection process, for a first duplicate locality, a second duplicate locality is selected that is closest to the first. Selected adornments are first and second significant localities, such as large cities, and are closer to the first and second duplicate localities, respectively, than the first and second duplicate localities are to each other, and are more significant than the first and second duplicate localities. Adornments to duplicate localities are displayed to the user. The process is repeated for remaining duplicate localities.
The supplementary location-related information which may be included in a digital map of the receiver is transmitted in such a way that the location-related information may be downloaded from an Internet page.
A system for permitting remotely located applications to obtain information about vehicle conditions and responsively perform programmatic actions based upon the vehicle conditions. The system can include a vehicle response server and a vehicle response agent. The vehicle response server can manage communications between one or more vehicles and at least one application remotely located from the vehicles. The application can automatically execute at least one context-dependent programmatic action based upon an event occurrence triggered by vehicle sensor input. The vehicle response agent, which resides within the vehicle can receive an activation context that specifies conditions for the event occurrence. The vehicle response agent can then monitor the vehicle for the event occurrence and, when appropriate, wirelessly convey an indication of the event occurrence to the vehicle response server. The indication can result in the automatic execution of the at least one context-dependent programmatic action.