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:
Apr. 12, 2011
Filed:
Aug. 03, 2007
Zhiwei Zhu, Plainsboro, NJ (US);
Taragay Oskiper, East Windsor, NJ (US);
Oleg Naroditsky, Princeton, NJ (US);
Supun Samarasekera, Princeton, NJ (US);
Harpreet Singh Sawhney, West Windsor, NJ (US);
Rakesh Kumar, Monmouth Junction, NJ (US);
Zhiwei Zhu, Plainsboro, NJ (US);
Taragay Oskiper, East Windsor, NJ (US);
Oleg Naroditsky, Princeton, NJ (US);
Supun Samarasekera, Princeton, NJ (US);
Harpreet Singh Sawhney, West Windsor, NJ (US);
Rakesh Kumar, Monmouth Junction, NJ (US);
SRI International, Menlo Park, CA (US);
Abstract
A method for estimating pose from a sequence of images, which includes the steps of detecting at least three feature points in both the left image and right image of a first pair of stereo images at a first point in time; matching the at least three feature points in the left image to the at least three feature points in the right image to obtain at least three two-dimensional feature correspondences; calculating the three-dimensional coordinates of the at least three two-dimensional feature correspondences to obtain at least three three-dimensional reference feature points; tracking the at least three feature points in one of the left image and right image of a second pair of stereo images at a second point in time different from the first point in time to obtain at least three two-dimensional reference feature points; and calculating a pose based on the at least three three-dimensional reference feature points and its corresponding two-dimensional reference feature points in the stereo images. The pose is found by minimizing projection residuals of a set of three-dimensional reference feature points in an image plane.