Deep virtual stereo odometry

US11064178B2 · kind B2 · utility

Assignee

• Artisense Corporation · US

Inventors

• Nan Yang
• Rui Wang · Munich, DE

Key dates

• Filing date: Jun 17, 2019
• Grant date: Jul 13, 2021
• Expiry date: Jun 17, 2039

Classification

• Technology area (CPC H): Electricity
• CPC primary: H04N2013/0081
• WIPO field: Audio-visual technology
• WIPO sector: Electrical engineering

Abstract

A monocular visual odometry system includes a stacked architecture. The stacked architecture receives camera data from a monocular camera and generates a depth map. Additionally, the system includes a deep virtual stereo odometry module that receives the camera data from the monocular camera and the depth map from the stacked architecture. The calculation module initializes a keyframe of the camera data using the depth map and determines a photometric error based on a set of observation points extracted from the keyframe and a set of reference points extracted from the camera data. The calculation module determines a virtual stereo photometric term using the depth map. The calculation module also optimizes a total energy function that includes the photometric error and the virtual stereo photometric term. Using the total energy function, the calculation module generates a positional parameter of the system and provides the positional parameter to an autonomous system.