GROUND TRANSPORT VEHICLE POSITIONING METHOD Russian patent published in 2022 - IPC G06V30/18 G06T1/00 G06T7/60 G01C21/30 

FIELD: computer technology.

SUBSTANCE: invention relates to the field of computer technology for autonomous positioning of ground vehicles. The effect is achieved through a method that includes the following steps: a map is formed in the form of images with linear objects located in the plane of the road; load the specified map into the memory of the on-board computer of the TV; during the movement of the TV, the on-board computer receives images from the cameras; processing the obtained images with the selection of environmental objects; evaluate the movement and orientation in the space of the TV; the current position of the vehicle in space is assessed; comparing the selected environmental objects in the images from the cameras with the map loaded into the onboard computer, taking into account the position of each hypothesis particle; estimate the probability of each hypothesis particle, after which they are resampled.

EFFECT: increasing the accuracy of determining the position of a ground vehicle in space while ensuring the speed and reliability of the implementation of the proposed method for positioning the TV.

3 cl, 1 dwg