Dense structure from motion
US9959595B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 18, 2014 |
| Grant date | May 1, 2018 |
| Priority date | — |
| Expiry date | Apr 28, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30256
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Determining three-dimensional structure in a road environment using a system mountable in a host vehicle including a camera connectable to a processor. Multiple image frames are captured in the field of view of the camera. In the image frames, a line is selected below which the road is imaged. The line separates between upper images essentially excluding images of the road and lower images essentially including images of the road. One or more of the lower images is warped, according to a road homography to produce at least one warped lower image. The three-dimensional structure may be provided from motion of a matching feature within the upper images or from motion of a matching feature within at least one of the lower images and at least one warped lower image.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.