System and method for multi-camera visual odometry
US8305430B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 18, 2006 |
| Grant date | Nov 6, 2012 |
| Priority date | — |
| Expiry date | Sep 1, 2031 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04N23/64
- WIPO fieldAudio-visual technology
- WIPO sectorElectrical engineering
Abstract
A visual odometry system and method for a fixed or known calibration of an arbitrary number of cameras in monocular configuration is provided. Images collected from each of the cameras in this distributed aperture system have negligible or absolutely no overlap. The relative pose and configuration of the cameras with respect to each other are assumed to be known and provide a means for determining the three-dimensional poses of all the cameras constrained in any given single camera pose. The cameras may be arranged in different configurations for different applications and are made suitable for mounting on a vehicle or person undergoing general motion. A complete parallel architecture is provided in conjunction with the implementation of the visual odometry method, so that real-time processing can be achieved on a multi-CPU system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.