Method and an apparatus for image-based navigation
US9020204B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Oct 1, 2010 |
| Grant date | Apr 28, 2015 |
| Priority date | — |
| Expiry date | May 7, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method and apparatus for determining position and orientation enabling navigation of an object using image data from at least a first and a second 2D image from at least one camera mounted on said object. The method comprises the steps of: correcting images from one or several cameras and from at least a first and a second 2D image for their respective radial distortion and other measurable effects which result in poor image precision; matching 2D image items in and between at least a first and second 2D image; calculating a fundamental matrix by using correlated image points from at least a first and a second 2D image; calculating and extracting estimated first rotation and translation values from the fundamental matrix using single value decomposition (SVD) based on information from at least a first and a second 2D image; iterating more accurate final rotation and translation values by using the LevenBerg-Marquard algorithm and determining the position and orientation of said object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.