Patent · US Active

Estimating objects proper motion using optical flow, kinematics and depth information

US8422741B2 · kind B2 · utility

7Cited by

4References

8Claims

0Family size

Assignee

Honda Research Institute Europe GmbH · DE

Inventors

Julian Eggert · Offenbach, DE
Sven Rebhan · Offenbach am Main, DE
Jens Schmüdderich · Offenbach, DE
Volker Willert · Darmstadt, DE

Key dates

Filing date	Aug 21, 2008
Grant date	Apr 16, 2013
Priority date	—
Expiry date	Sep 3, 2030

Classification

Technology area (CPC G)Physics
CPC primaryG06T7/269
WIPO fieldComputer technology
WIPO sectorElectrical engineering

Abstract

The invention relates to a method for detecting the proper motion of an real-world object, comprising the steps of acquiring, by an image capturing device (ICD), a first image (I1) of the object at a first point in time (t1) and a second image (I2) at a second point in time (t2); obtaining a third (hypothetical) image (I3), based on an estimated effect of the motion of the image capturing device (ICD) itself (EMF) between the first and the second point in time (t1, t2), wherein the effect of the motion of the image capturing device (ICD) itself is estimated based on the forward kinematics of the image capturing device; determining an optical flow (OF) between the second image (I2) and the third image (I3); and evaluating the optical flow (OF) by incorporating uncertainties of the optical flow (OF) and the ego-motion-flow (EMF) in order to determine the proper motion of the object.

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