Patent · US Active

Method and a device for estimating an orientation of a camera relative to a road surface

US10102644B2 · kind B2 · utility

0Cited by

1References

16Claims

0Family size

Assignee

Delphi Technologies · US

Inventors

Jens Westerhoff · Dortmund, DE
Stephanie Lessmann · Erkrath, DE
Mirko Meuter · Gruiten, DE
Jan Siegemund · Cologne, DE

Key dates

Filing date	Dec 20, 2016
Grant date	Oct 16, 2018
Priority date	—
Expiry date	May 10, 2037

Classification

Technology area (CPC G)Physics
CPC primaryG06T2207/30252
WIPO fieldComputer technology
WIPO sectorElectrical engineering

Abstract

A method of estimating an orientation of a camera relative to a surface includes providing a first image and a subsequent second image captured by the camera; selecting a first point from the first image and a second point from the second image, where the first and second points represent the same object; defining a first optical flow vector connecting the first point and the second point; carrying out a first estimation step comprising estimating two components of the normal vector in the camera coordinate system by using the first optical flow vector and restricting parameter space to only the two components of the normal vector, wherein a linear equation system derived from a homography matrix that represents a projective transformation between the first image and the second image is provided and the two components of the normal vector in the camera coordinate system are estimated by solving the linear equation system; and determining the orientation of the camera relative to the surface using the results of the first estimation step.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.