System and method for providing mobile range sensing
US8059887B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 25, 2007 |
| Grant date | Nov 15, 2011 |
| Priority date | — |
| Expiry date | Jun 28, 2030 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V2201/12
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
The present invention provides an improved system and method for estimating range of the objects in the images from various distances. The method comprises receiving a set of images of the scene having multiple objects from at least one camera in motion. Due to the motion of the camera, each of the images are obtained at different camera locations Then an object visible in multiple images is selected. Data related to approximate camera positions and orientations and the images of the visible object are used to estimate the location of the object relative to a reference coordinate system. Based on the computed data, a projected location of the visible object is computed and the orientation angle of the camera for each image is refined. Additionally, pairs of cameras with various locations can then be chosen to obtain dense stereo for regions of the image at various ranges. The process is further structured so that as new images arrive, they are incorporated into the pose adjustment so that the dense stereo results can be updated.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.