Smoothness constraint for camera pose estimation
US11195300B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 17, 2019 |
| Grant date | Dec 7, 2021 |
| Priority date | — |
| Expiry date | Feb 1, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG08G1/166
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Disclosed are devices, systems and methods for incorporating a smoothness constraint for camera pose estimation. One method for robust camera pose estimation includes determining a first bounding box based on a previous frame, determining a second bounding box based on a current frame that is temporally subsequent to the previous frame, estimating the camera pose by minimizing a weighted sum of a camera pose function and a constraint function, where the camera pose function tracks a position and an orientation of the camera in time, and where the constraint function is based on coordinates of the first bounding box and coordinates of the second bounding box, and using the camera pose for navigating the vehicle. The method may further include generating an initial estimate of the camera pose is based on a Global Positioning System (GPS) sensor or an Inertial Measurement Unit (IMU).
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.