Robust scale estimation in real-time monocular SFM for autonomous driving
US9189689B2 · kind B2 · utility
4Cited by
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22Claims
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Key dates
| Filing date | Aug 4, 2014 |
| Grant date | Nov 17, 2015 |
| Priority date | — |
| Expiry date | Aug 4, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V10/467
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for performing three-dimensional (3D) localization requiring only a single camera including capturing images from only one camera; generating a cue combination from sparse features, dense stereo and object bounding boxes; correcting for scale in monocular structure from motion (SFM) using the cue combination for estimating a ground plane; and performing localization by combining SFM, ground plane and object bounding boxes to produce a 3D object localization.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.