Patent ID: 9329258
Filing Date: 2016-05-03
CPC Classification: G01S,G05D,G06K,G06T

Claim Text:
1. A method for determining, in a 3D fixed frame of reference (R G ), the location of a mobile machine provided with an image sensor associated with a first 3D local frame of reference (R I ) corresponding to a captured image of the environment of the mobile machine, said captured image being obtained by said sensor and comprising at least two characteristic points of said environment, said method being characterized in that it comprises using the angles of roll and of pitch of the mobile machine in the fixed frame of reference corresponding to said captured image as inputs for the method, and implementing the following steps in relation to said captured image, so as to determine the angle of yaw and/or the coordinates of the mobile machine in the fixed frame of reference: a) defining a second local frame of reference (R b) multiplying, for each of the two characteristic points (P c) expressing coordinates of the two characteristic points in said second local frame of reference as a function of the distance (D) between said characteristic points and of said coordinate quotients, the angle of yaw (YW) of the mobile machine in the fixed frame of reference corresponding to said captured image being determined as a function of the arctan function applied to a variable dependent on the coordinates, in said second local frame of reference (R