The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 05, 2021
Filed:
Feb. 14, 2018
The Trustees of the University of Pennsylvania, Philadelphia, PA (US);
Konstantinos Daniilidis, Wynnewood, PA (US);
Alex Zihao Zhu, Philadelphia, PA (US);
Nikolay Asenov Atanasov, San Diego, CA (US);
THE TRUSTEES OF THE UNIVERSITY OF PENNSYLVANIA, Philadelphia, PA (US);
Abstract
A method for implementing a soft data association modeled with probabilities is provided. The association probabilities are computed in an intertwined expectation maximization (EM) scheme with an optical flow computation that maximizes the expectation (marginalization) over all associations. In addition, longer tracks can be enabled by computing the affine deformation with respect to the initial point and using the resulting residual as a measure of persistence. The computed optical flow enables a varying temporal integration that is different for every feature and sized inversely proportional to the length of the optical flow. The results can be seen in egomotion and very fast vehicle sequences.