Patent ID: 9224050
Filing Date: 2015-12-29
Classification: G06K,G06T

Abstract:
1. A method for vehicle localization in an open pit mining environment, comprising: receiving a sequence of picture frames from a camera calibrated in a fixed coordinate system with a field of view encompassing a region of vehicle operation in the mining environment; processing pixels of at least one picture frame of the sequence of picture frames to identify interest points using a vehicle recognition algorithm; analysing the interest points to determine the presence of a vehicle in the camera field of view; tracking an image position of the vehicle within the region of vehicle operation by analysing the sequence of picture frames using a vehicle tracking algorithm; ascertaining at least one independent measure of the vehicle location within the region of vehicle operation relative to the fixed coordinate system; and fusing the image position of the vehicle and the at least one independent vehicle location measurement to provide an output of vehicle localization over time.