Motion estimation utilizing range detection-enhanced visual odometry
US9251587B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 5, 2013 |
| Grant date | Feb 2, 2016 |
| Priority date | — |
| Expiry date | Jan 31, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A motion determination system is disclosed. The system may receive a first and a second camera image from a camera, the first camera image received earlier than the second camera image. The system may identify corresponding features in the first and second camera images. The system may receive range data comprising at least one of a first and a second range data from a range detection unit, corresponding to the first and second camera images, respectively. The system may determine first positions and the second positions of the corresponding features using the first camera image and the second camera image. The first positions or the second positions may be determined by also using the range data. The system may determine a change in position of the machine based on differences between the first and second positions, and a VO-based velocity of the machine based on the determined change in position.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.