INDUSTRIAL VEHICLES WITH OVERHEAD LIGHT BASED LOCALISATION Russian patent published in 2018 - IPC G06T7/00 

FIELD: control system or control of non-electrical quantities.

SUBSTANCE: invention relates to systems and methods for determining the characteristic centre lines of ceiling lights, primarily to facilitate automatic remote control of movement. Method for locating a vehicle based on environmental objects may comprise capturing an input image of a ceiling comprising a plurality of skylights. Features can be extracted from the input image and can be grouped into a plurality of feature groups such that each of features is associated with one of the skylights. Line segments can be extracted from the features of each group, automatically, with one or more processors executing a feature extraction algorithm on each feature group separately. At least two selected lines of the line segments of each feature groups can be selected. Centre line for each feature group can be determined based at least in part upon the two selected lines. Centre line of each feature group can be associated with one of the skylights.

EFFECT: automatic determination of vehicle orientation.

20 cl, 9 dwg