EP0139292A2
Expired / Lapsed
EP
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Navigation apparatus for mobile system
Assignee: Hitachi Ltd
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Filing: 1984-10-15
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Granted: —
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Expires: 2004-10-15
Abstract
Abstract In a navigation apparatus for guiding a mobile system (1) along a predetermined path, an image obtained by measuring (2) an actual environment is compared (6) with a predicted image stored (4) in advance, and a guidance signal is delivered to the mobile system (1) on the basis of the comparison of the images.
Inventors
- 👤 Kohji Kamejima
- 👤 Yuji Hosoda
- 👤 Yoshiyuki Nakano
- 👤 Masakatsu Fujie
- 👤 Taro Iwamoto
- 👤 Kazuo Honma
- 👤 Takashi Yoshida
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-24 14:28
CPC Classifications
G; G01; G01S; G01S3/00; G01S3/78; G01S3/782; G01S3/785; G01S3/786; G01S3/7864; G01S3/7865; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0246; G05D1/0268; G05D1/027; G05D1/0272; G05D1/0274
Claims Analysis
Total Claims: 9
Claim 1
Independent Claim
138 words
In a navigation apparatus for guiding a mobile system (1) along a predetermined path; a navigation apparatus characterized by comprising means ( 1B, 1C, 3) to detect a path movement of the mobile system (1), memory means (4) to store predictive patterns relating to positional information of the mobile system (1), vision means (2) to observe an actual environment and to detect an actual image thereof, image processing means (5) to extract an observed feature pattern from the observed image obtained with said vision means (2), and guidance control means (6,7) to compare the observed feature pattern from said image processing means (5) and the predicted pattern delivered from sa=d memory means (4) in accordance with the positional information of the mobile system (1) and to provide a guidance signal for the mobile system (1) as an output.
Claim 2
Dependent Claim
138 words
In a navigation apparatus for guiding a mobile system (1) along a predetermined path; a navigation apparatus characterized by comprising means ( 1B, 1C, 3) to detect a path movement of the mobile system (1), memory means (4) to store predictive patterns relating to positional information of the mobile system (1), vision means (2) to observe an actual environment and to detect an actual image thereof, image processing means (5) to extract an observed feature pattern from the observed image obtained with said vision means (2), and guidance control means (6,7) to compare the observed feature pattern from said image processing means (5) and the predicted pattern delivered from sa=d memory means (4) in accordance with the positional information of the mobile system (1) and to provide a guidance signal for the mobile system (1) as an output.
Claim 3
Dependent Claim
32 words
A navigation apparatus as defined in Claim 1, wherein said memory means (4) stores predictive pattern information on environment models and moving paths in and along which the mobile system (1) moves.
Claim 4
Dependent Claim
54 words
A navigation apparatus as defined in Claim 2, wherein said means (1B, 1C, 3) to detect the location of the mobile system comprises a rotary encoder (1C) which detects a rotational magnitude of a vehicle mechanism of the mobile system (1), and a gyroscope (1B) which detects a direction of the mobile system (1).
Claim 5
Dependent Claim
35 words
A navigation apparatus as defined in Claim 3, wherein said image processing means (5) comprises a plurality of image processors which extract a plurality of feature patterns from the observed image at the same time.
Claim 6
Dependent Claim
31 words
A navigation apparatus as defined in Claim 4, wherein said guidance control means (6,7) comprises a potential computer (7A) which computes a potential field whose source is the measured characteristic pattern.
Claim 7
Dependent Claim
35 words
A navigation apparatus as defined in Claim 5, wherein said guidance control means (6,7) comprises a matching force evaluator (7B) which evaluates a matching force acting on the predicted pattern placed in the potential field.
Claim 8
Dependent Claim
30 words
A navigation apparatus as defined in Claim 4, wherein said guidance control means (6,7) comprises a potential computer (7A) which computes a potential field whose source is the predicted pattern.
Claim 9
Dependent Claim
36 words
A navigation apparatus as defined in Claim 7, wherein said guidance control means (6,7) comprises a matching force evaluator (7B) which evaluates a matching force acting on the observed feature pattern placed in the potential field.
References Cited (Backward Citations)
No citation records indexed.
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