Abstract:
The present invention provides a method, a computer program, and device for navigation assistance where the method and the computer program may include receiving location information related to the geographical location of a device for navigation assistance, continuously receiving visual information registered by a camera, displaying the visual information received, calculating the geographical coordinates of the device from the received location information related to the geographical location of the device and analyzing the visual information received and relating it to the calculated geographical location of the device.

Description:
TECHNICAL FIELD 
       [0001]    The present invention generally relates to navigation devices and systems. 
       BACKGROUND 
       [0002]    Geographic position determination using the Global Positioning System (GPS) has become a widely-used positioning technology. In typical GPS systems, position coordinates relative to the earth&#39;s surface are determined by sending timing and orbital coordinates from at least three geostationary satellites to a receiver of a GPS-enabled device. By correcting the clock of the GPS receiver using clock synchronization signals from the three satellites plus a clock error correction signal from a fourth geostationary satellite, the position of the GPS-enabled device can be determined with great precision and accuracy. The same holds true for GPS receivers that are moving, such as those used in motor vehicles, boats, aircraft, or even on persons using, for example, a handheld GPS receiver. 
         [0003]    A variety of commercially-available GPS navigation equipment exists, from simple hand-held GPS receivers displaying coordinates and direction of movement, to more advanced GPS receivers that render information via maps of entire regions with streets, roads, freeways, hotels, points of interest, etc. The latter category, in particular, is commonly used in motor vehicles as built-in GPS navigation systems or as separate GPS navigation devices. Such GPS navigation devices are increasingly used on motorcycles, bicycles, or as mobile GPS navigation devices. For a number of years, personal digital assistants (PDAs) and so called, smartphones, equipped with GPS navigation software and GPS receivers have been in use. 
         [0004]    In such systems, the position of the GPS navigation device is determined by triangulation and by mapping geographical coordinates of the GPS navigation device with reference to a provided street or geographical map. In GPS navigation devices and mobile terminals equipped with GPS receivers and appropriate mapping software, however, it may prove difficult for a user to relate the schematic street map rendered by the GPS navigation device to actual buildings and streets as viewed by the user, since most maps for GPS navigation devices are simplified two- (e.g., plan view) or quasi-three-dimensional representations of the terrain. 
         [0005]    Ease of use of such devices becomes more of a challenge to achieve when the user is simultaneously operating a motor vehicle and navigating using the GPS navigation device, since the driver still has to compare the displayed map to the actual streets and buildings encountered by the user. For example, frequently referring to the map on the GPS navigation device may distract the driver from concentrating on operation of the vehicle and thereby pose a potential safety hazard. In addition, such practices may lead the driver to miss a turn or exit and therefore required backtracking or alternative routing and, possibly, result in a less direct path to the desired driving destination. 
       SUMMARY 
       [0006]    Embodiments of the present invention may be implemented in a device for navigation assistance that includes at least one receiver for receiving location information related to the geographical location of the device, the device being arranged to continuously receive visual information registered by a camera, and a display for displaying the visual information received, the device further including a memory for storing location information related to the region or area through which the device is moving and a processing unit for continuously calculating the geographical coordinates of the device from the location information related to the geographical location of the device, where the processing unit is arranged to continuously analyze the visual information received from the camera and to relate it to the information indicative of the geographical location of the device. 
         [0007]    Advantages of such a device include a driver being able to readily relate the surrounding scenery to the real world in the moving direction to thereby avoid confusion when following directions provided from such a navigation system. 
         [0008]    According to another aspect of the present invention, a device for navigation assistance including at least one receiver for receiving location information related to the geographical location of the device, the device being arranged to intermittently receive visual information registered by a camera, and a display for displaying the visual information received, the device further includes a memory for storing location information related to the region or area through which the device is moving and a processing unit for intermittently calculating the geographical coordinates of the device from the location information related to the geographical location of the device, where the processing unit is arranged to intermittently analyze the visual information received from the camera and to relate it to the information indicative of the geographical location of the device. 
         [0009]    Advantages of such a device include a device configured to register the scenery in the moving direction of the device at random time instants selected by the user of the device. 
         [0010]    According to yet another aspect of the present invention, a system for navigation assistance including at least one receiver for receiving location information related to the geographical location of the receiver, a camera for registering visual information in the direction in front of the camera, a display in communication with the camera for displaying the visual information registered by the camera, the system further includes a memory for storing location information related to the vicinity through which the receiver is moving and a processing unit in communication with the memory for continuously calculating the geographical coordinates of the receiver from the location information related to the geographical location of the receiver, where the processing unit is further in communication with the camera and arranged to continuously analyze the visual information received from the camera and to relate it to the information indicative of the geographical location of the receiver. 
         [0011]    Advantages of such a device include having separate components communicating with each other and essentially performing the same function as the device for the above-described navigation assistance. Making the components separate would lead to more freedom of choice regarding the processing power, storage capacity, and complexity of the receiver in the system. 
         [0012]    According to yet another aspect of the present invention, a method for navigation assistance includes: 
         [0000]    a) receiving location information related to the geographical location of a device for navigation assistance;
 
b) continuously receiving visual information registered by a camera;
 
c) displaying the visual information received;
 
d) calculating the geographical coordinates of the device from the received location information related to the geographical location of the device; and
 
e) continuously analyzing the visual information received and relating it to the calculated geographical location of the device.
 
         [0013]    A method according to the present invention is well suited to be implemented by above-described devices or systems for navigation assistance. 
         [0014]    Further, according to another aspect of the present invention, a computer program for navigation assistance includes instruction sets for: 
         [0000]    a) continuously receiving location information related to the geographical location of a device for navigation assistance;
 
b) receiving visual information registered by a camera;
 
c) displaying the visual information received;
 
d) calculating the geographical coordinates of the device from the received location information related to the geographical location of the device; and
 
e) continuously analyzing the visual information received and relating it to the calculated geographical location of the device.
 
         [0015]    The above-described computer program may be well suited to execute the steps of the method according to the present invention and to be executed in a device or system according to the present invention. 
         [0016]    These and other advantages of the present invention will be more readily apparent by studying the following detailed description together with the accompanying drawings. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0017]    The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate an embodiment of the invention and, together with the description, explain implementations of the invention. In the drawings, 
           [0018]      FIG. 1  illustrates an exemplary satellite navigation device for use in a motor vehicle; 
           [0019]      FIG. 2  illustrates an exemplary satellite navigation device in which systems and methods of the invention may be implemented; 
           [0020]      FIG. 3  is a schematic of functional components of a satellite navigation device in which systems and methods of the invention may be implemented; and 
           [0021]      FIG. 4  illustrates exemplary steps of a invention which may be implemented in a satellite navigation system. 
       
    
    
     DETAILED DESCRIPTION 
       [0022]      FIG. 1  schematically illustrates a passenger compartment  100  of a (“host”) vehicle equipped with a GPS (Global Positioning System) navigation device  120  and attached to a dashboard or instrument panel  110  of the vehicle. It is possible for GPS navigation device  120  to be built-in into the vehicle, for example, integral in the instrument panel of the vehicle (not shown). 
         [0023]    GPS navigation device  120  may, via a GPS receiver circuit, which may be external to or built-in GPS navigation device, intermittently communicate with at least three geostationary satellites (not shown). Out of the at least three satellites, three satellites may be used to determine the position of the vehicle down to a certain area, while data from a fourth satellite (clock data) may be used to locate the position of the vehicle down to, for example, a few meters, while at the same time determining the velocity of the vehicle. 
         [0024]    Each of the four satellites may transmit respective orbital coordinates, which may, together with the velocity and the position of the vehicle, be used to locate the vehicle within a coordinate system associated with the earth&#39;s surface. Together with the “terrestrial” coordinates and software inside GPS navigation device  120 , the position of the vehicle in relation to the city or region through which the vehicle is traveling, may be determined and representatively displayed. The representation may be rendered via display  130  of the GPS navigation device  120 . 
         [0025]    While the vehicle is moving on a street or freeway, its (direction of) movement may be representatively indicated by an arrow  140  or similar symbol on display  130  of GPS navigation device  120 . 
         [0026]      FIG. 2  illustrates a satellite navigation system  200  in a vehicle according to one embodiment of the present invention. However, it will be appreciated that satellite navigation system  200  may equally be used in other modes of transportation, e.g., not equipped with engines, such as bicycles or the like. 
         [0027]    It should also be noted here that the present invention is not limited to a satellite navigation system only, but may also be used in a wireless communication network, such as a GSM (Globals System for Mobile telephony), UMTS (Universal Mobile Telephony System), HSPDA (High-Speed Packet Data Access), IEEE 802.11 series (a, b, g, n), HiperLAN, WiMAX, and other wireless communication networks capable of localizing a mobile terminal using triangulation data in the wireless communication network. 
         [0028]    Also, it may be pointed out here that the term mobile terminal should be interpreted as referring to any device operable in a communication network and including at least a receiver as well as being transportable, i.e., being portable or movable. 
         [0029]    Returning now to  FIG. 2 , a mobile terminal  220  is shown to be attached to the upper part of a dashboard or instrument panel  210  of the vehicle. On a display  230  of mobile terminal  220 , the view from its camera unit (not shown) may be shown in an enlarged view  240 . Assume that the camera of mobile terminal  220  is essentially directed towards the driving direction of the vehicle and that display  230  shows the view registered from the camera of mobile terminal  220  substantially in real time. Hence, display  230  of mobile terminal  220  may be referred to as viewfinder  230  in the following description. 
         [0030]    It should be mentioned here that mobile terminal  220  should be disposed on instrument panel  210  of the vehicle in such a way that the camera is able to register the surroundings to the fore of the vehicle in the driving direction of the vehicle. 
         [0031]    Mobile terminal  220  may be equipped with satellite navigation software and a satellite signal receiver (not shown) that may be configured to receive positioning signals, i.e., synchronization patterns for clock synchronization and orbital coordinates from at least three geostationary satellites, the details of which need not be presented herein. The satellite navigation software may allow the user, e.g., the driver of the vehicle, to specify a desired destination, and possibly preferred route(s). The satellite navigation software, according to the present invention, may also have the ability to continuously analyze images rendered in viewfinder  230  of the camera arrangement and, by using pattern recognition algorithms or the like, separate primary objects, such as streets, roads, highways, waterways, and other thoroughfares from secondary objects, such as buildings, trees, and other landmarks. 
         [0032]    The term, continuously, in the preceding paragraph and in the following description herein, should be understood as occurring in certain time intervals that need not be constant and may range, for example, from milliseconds, seconds, or longer periods of time. 
         [0033]    Calculating geographical coordinates for the host vehicle based on timing signals and orbital coordinates received from the at least three geostationary satellites and mapping of the geographical coordinates on the processed image captured via the camera arrangement may enable identification of the position of the vehicle relative to the street on which it may be currently traveling. Mapping may be performed continuously. The software may superpose arrows or other directional indicators on the moving image or video rendered in viewfinder  230  to indicate the direction in which the vehicle should proceed to reach the predetermined destination. 
         [0034]    In one implementation, a single arrow at a time is displayed in viewfinder  230  of the camera unit, so multiple arrows  240 ,  250  and  260  superposed on the image shown on display  230  of the mobile terminal  220  are for illustrative purposes. 
         [0035]    The directional indicators (e.g., arrows  240 ,  250 ,  260 ) may have any form or shape suitable to indicate to the user the appropriate direction of travel. In one implementation, the directional indicators (e.g., arrows  240 ,  250 ,  260 ) may correspond to contours of the streets, roads, and highways to facilitate identification of an upcoming driving direction (e.g., turn, maneuver, etc.). 
         [0036]    In this regard, the operator of the vehicle may readily follow the route entered or specified in the satellite navigation software of mobile terminal  220 . That is, the driver need not frequently compare the actual streets and buildings to that which is represented via display  230  of mobile terminal  220 . 
         [0037]    While a standard scheme for calculating the geographical position of a mobile terminal has been described prior to the image processing performed by the satellite software, according to the present invention, the calculation of the geographical position may be accomplished, differently, where the navigation is performed in a wireless communication network, such as a GSM, UMTS, HPSDA, IEEE 802.11 series (a, b, g, n), HyperLAN, WiMAX, or other wireless communication networks. While in mobile communication networks, such as GSM, UMTS, and HPSDA, the position determination may be based on triangulation using signal strength and timing information from mobile terminal  220 , in other wireless communication networks, such as IEEE 802.11 series (a, b, g, n), HyperLAN, WiMAX, or the like, it may be based on a combination of parameters, such as attenuation, reflection and multi-path characteristics for signals transmitted by mobile terminal  220  and received at three or more access points of the wireless communication network. Both cases presuppose, for example, that mobile terminal  220  includes a transmitter (e.g., a transceiver). 
         [0038]    It may also be possible to provide the host vehicle with a built-in mobile terminal  220 , where the camera arrangement is located apart from mobile terminal  220  so as to be able to optimally register the scenery in a driving direction of the vehicle. For example, the camera arrangement may be provided inside passenger compartment  200  of the vehicle in a position to be able to register the scenery in the driving direction of the vehicle. The camera arrangement may be positioned outside passenger compartment  200  of the vehicle, for example, in a fore section of the vehicle, such as in the grill, hub, or anterior to the front window. In any case, display  230  of mobile terminal  220  may serve as viewfinder  240  for the camera arrangement and display the scenery in the driving direction of the vehicle as captured by the camera arrangement. 
         [0039]      FIG. 3  is a schematic illustration of functional components of a mobile terminal or satellite navigation device  300 , according to an embodiment of the present invention. 
         [0040]    Illustratively, satellite navigation device  300  may include a receiver  310  for receiving satellite signals from at least three geostationary satellites, which signals may include clock synchronization signals for synchronizing the clock in receiver  310  with the clocks in the geostationary satellites. Satellite navigation device  300  may receive orbital coordinates from the at least three geostationary satellites at receiver  310  to map its coordinates to coordinates on the earth&#39;s surface. 
         [0041]    Satellite navigation device  300  may, for example, include a transmitter (not shown) when satellite navigation device  300  is configured for use as a communication device, for instance, in wireless communication networks, for example, when satellite receiver  310  resides in a mobile terminal, such as a cell phone, PDA, laptop, or some other type of mobile terminal. 
         [0042]    Furthermore, satellite navigation device  300  may include a camera unit  320  configured to capture still (e.g., photographs) and/or video images. The functions of camera unit  320  and operating parameters need not be described in detail herein. It suffices to say that essentially the resolution of cameras built into current cell phones, PDA:s, or palmtops, for example, is sufficient for implementations of the present invention. 
         [0043]    Camera unit  320  may connect to (e.g., transmit and/or receive signals from) display  330 , which, apart from having the function of a viewfinder for camera unit  320 , may be used to display other information unassociated with camera unit  320 , such as icons, menus, and other information associated with other functionality of satellite navigation device  300 . 
         [0044]    Additionally, camera unit  320  may connect to a processing unit  340  that may be configured to analyze visual information registered by camera unit&#39;s  320  sensor (not shown) and to map location information for the vehicle calculated from timing and coordinates provided by the at least four geostationary satellites onto the visual information displayed on viewfinder  330 . Processing unit  340  may be configured to identify and/or separate secondary objects, such as buildings, the horizon and other irrelevant objects from relevant objects, i.e. primary objects, such as streets, thoroughfares, and the like, and by mapping the extracted street data from the visual information to relevant local or regional maps stored in a memory storage  360  of satellite navigation device  300 . In one implementation, satellite navigation device  300  may include a transmitter, the local and/or regional maps may also be located on a server belonging to a satellite navigation service provider. Implementations may allow the design of satellite navigation device  300  and the software stored in a storage device, such as a memory storage  360  of satellite navigation unit  300 , to have a noncomplex structure. Implementations may allow the user of satellite navigation device  300  to have access to the most recent local and/or regional map information, since the update of the maps may be accomplished in one or a few centralized locations associated with the satellite navigation service provider. 
         [0045]    Satellite navigation device  300  may include a user interface  350  that may, for example, provide the driver with the possibility of entering a driving route, e.g., from a starting point to a destination, or only to a destination point, as well as other types of information. In one implementation, user interface  350  may also provide the user with a choice of different local and/or regional maps which may be stored in memory storage  360  in satellite navigation device  300 . User interface  350  may include one or more types of input mechanisms configured to receive user input, e.g., audible, tactile, mechanical, and/or other type of input. 
         [0046]    Thus, when a destination is entered, for example, via user interface  350 , processing unit  340  may map the coordinates of the vehicle (satellite navigation device  300 ) to the visual information registered by camera unit  320  and displays at least the next direction to drive via viewfinder  330  by a direction indicator, such as an arrow or similar indicator by comparing the location of the vehicle with the local and/or regional maps stored in memory storage  360  of satellite navigation device  300 . 
         [0047]    Satellite navigation unit  300  may be configured to provide the driver of the vehicle with the function of switching among various different views on viewfinder  330  of camera unit  320 , e.g., direction arrows superposed onto the visual information displayed in camera viewfinder  330 , the local and/or regional satellite navigation map view and/or direction arrows, together with distance and speed data displayed onto the visual information rendered via viewfinder  330 . Implementations may allow the driver of the vehicle to get oriented using the satellite navigation map about places to frequent, places of interest, etc. 
         [0048]    It will be appreciated that processing unit  340  may include an ASIC circuit and/or a standard processor using image processing software stored in memory storage  360  of satellite navigation device  300  when performing image processing and coordinate mapping operations. The image processing and navigation software may also be available for download as a software program from a server facility located in a wireless or wired communication network. 
         [0049]    In some implementations, various components of satellite navigation device  300 , such as camera unit  320 , display  330 , processing unit  340 , user interface  350 , and/or memory storage  360  may be integrated into satellite navigation device  300 . 
         [0050]    In some implementations, satellite navigation device  300 , as a system, may include components, such as camera unit  320 , display  330 , processing unit  340 , user interface  350 , and/or memory storage  360  as separate units configured to communicate with others of the components, for example, wireless links and/or by wired links, such as using CAN bas, for example. 
         [0051]    In some implementations, receiver  310  may be located in any suitable location inside or outside the passenger compartment of a vehicle, while display  330  may be built-in into the instrument panel and/or dashboard of the vehicle or in some other position in the passenger compartment which is readily visible by the driver and/or a passenger(s). Processing unit  340  may be located as a separate unit in the instrument panel and/or dashboard of the vehicle, in the rear part of the vehicle, in the trunk or some of suitable part of the vehicle. User interface  350  may either be built-in into display  330  (e.g., a touch-sensitive display) and/or be associated with the instrument panel. In some implementations, user interface  350  may be part of the button commands located on and/or near the steering device of the vehicle. 
         [0052]    In some implementations, memory storage  360  may be located apart from one or more of the other units of satellite navigation device  300 , for example, in the instrument panel or in the trunk of the vehicle. 
         [0053]    Providing the different units of satellite navigation device  300  as individual components may have an advantage of being able to construct such a navigation system with customized processing power, storage space, display capabilities, and/or camera arrangements, and not be limited by space constraints compared to a system in which components are integrated into satellite navigation device  300 . 
         [0054]    Referring now to  FIG. 4 , exemplary steps according to one embodiment of the present invention are illustrated in the form of a flowchart. Assume that the geographic location of the vehicle has already been determined by the satellite navigation system. 
         [0055]    At step  400 , a driver of the vehicle equipped with a mobile terminal, such as a satellite navigation system, may enter destination data using a user interface which is received at the satellite navigation device. 
         [0056]    At step,  410 , a processing unit in the satellite navigation device may calculate the satellite coordinates of the vehicle using information from geostationary satellites received at the satellite navigation device&#39;s receiver. The processing unit may calculate coordinates continuously throughout travel. The coordinates of the destination may be searched in a map database of the satellite navigation device and/or on a server of the satellite navigation service provider and the geographical coordinates of the destination may be stored in the memory storage or another storage device associated with the satellite navigation device. The processing unit may calculate a (e.g., shortest) driving route that connects the data points (e.g., starting point, current location, destination, etc.). 
         [0057]    At step  420 , the processing unit may analyze the visual information from the image sensor of the satellite navigation device&#39;s camera unit and perform image processing on the acquired visual data. The image processing may involve image processing algorithms for determining relevant data from the visual information, such as primary objects in the form of streets, crossings, freeways, while distinguishing (e.g., discarding) other secondary objects, such as the sky, buildings, other vehicles and other objects deemed not relevant for the formulation of driving directions. 
         [0058]    Techniques of image processing may include histogram analysis and/or radon transformation, for example. Using these or similar technologies, for example, one can divide the visual information into distinct intensity segments and utilize the fact that the intensity distribution for a street or thoroughfare differs from the intensity distribution of other objects (e.g., a detectable difference in contrast between the road and the surroundings), such as buildings, other vehicles, the sky and the like. The radon transformation technology may detect the direction from which radiation emanates. For example, radiation from below combined with histogram analysis will more accurately distinguish roads from other objects in the driving direction of the vehicle. 
         [0059]    At step  430 , the processing unit may retrieve timing and orbital data from the satellite navigation device&#39;s receiver and calculate the position of the vehicle. Based on the timing and orbital data, and retrieved map data for the actual location from the memory storage, the processing unit may calculate the position of the vehicle on the map and compare position information to the streets or highways identified from the sensor data. 
         [0060]    At step  440 , the processing unit may calculate the travel directions corresponding to a predetermined route to the destination specified by the user, and map via the user interface arrows or other direction indicators onto the viewfinder of the satellite navigation device camera. In one implementation, the direction indicators may correspond to the contours of the ground on which the vehicle travels to aid the driver. The mapping of direction indicators may also be accompanied by spoken driving directions, if desired. 
         [0061]    In some implementations, the processing unit may, via the user interface, for example, render graphical guiding lines or other visual effects (e.g., highlighting) to delineate or otherwise identify the streets or thoroughfares on route to the destination. 
         [0062]    At step  450 , the satellite navigation device may check the coordinates of the vehicle match against the coordinates of the specified destination. When the coordinates do not match, the satellite navigation device may return to step  420  and analyze the information retrieved from the satellite navigation device camera and map driving directions onto the display of the satellite navigation device. When the satellite navigation device determines that the satellite coordinates of the vehicle match the destination coordinates, the satellite navigation device may, at step  460  indicate, to the user on the display that the desired destination has been reached. 
         [0063]    It should be clear to the person skilled in the art from the above elaboration that various modifications of the invention are possible within of the present invention as defined by the accompanying claims. 
         [0064]    For example, the navigation device according to the present invention may also be used on a bicycle or by a pedestrian, for example, as the camera of the navigation device may be directed in the cycling or walking direction. 
         [0065]    During use of the navigation device by a pedestrian, it may be possible to intermittently register the scenery in the walking direction by taking pictures of the scenery and having it analyzed by the processing unit, such as the processing unit  340 , of the navigation device. Thereafter, the processing unit may after some image processing and mapping of the extracted primary objects to the geographical map in the memory of the navigation device display the next direction to take to guide the user to the specified destination.