Egomotion using assorted features
US8855406B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 26, 2011 |
| Grant date | Oct 7, 2014 |
| Priority date | — |
| Expiry date | Jul 4, 2032 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A system and method are disclosed for estimating camera motion of a visual input scene using points and lines detected in the visual input scene. The system includes a camera server comprising a stereo pair of calibrated cameras, a feature processing module, a trifocal motion estimation module and an optional adjustment module. The stereo pair of the calibrated cameras and its corresponding stereo pair of camera after camera motion form a first and a second trifocal tensor. The feature processing module is configured to detect points and lines in the visual input data comprising a plurality of image frames. The feature processing module is further configured to find point correspondence between detected points and line correspondence between detected lines in different views. The trifocal motion estimation module is configured to estimate the camera motion using the detected points and lines associated with the first and the second trifocal tensor.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.