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:
Jul. 03, 2012
Filed:
Jun. 22, 2009
Andreas Ess, Zurich, CH;
Bastian Leibe, Aachen, DE;
Konrad Schindler, Darmstadt, DE;
Luc Van Gool, Antwerp, BE;
Kenichi Kitahama, Nagoya, JP;
Ryuji Funayama, Yokohama, JP;
Andreas Ess, Zurich, CH;
Bastian Leibe, Aachen, DE;
Konrad Schindler, Darmstadt, DE;
Luc Van Gool, Antwerp, BE;
Kenichi Kitahama, Nagoya, JP;
Ryuji Funayama, Yokohama, JP;
Swiss Federal Institute of Technology Zurich, Zurich, CH;
Toyota Jidosha Kabushiki Kaisha, Toyota-shi, JP;
Abstract
A motion estimating device first detects mobile objects Oi and Oi' in continuous image frames T and T′, and acquires image areas Ri and Ri′ corresponding to the mobile objects Oi and Oi′. Then, the motion estimating device removes the image areas Ri and Ri′ corresponding to the mobile objects Oi and Oi′ in the image frames T and T′, extracts corresponding point pairs Pj of feature points between the image frames T and T′ from the image areas having removed the image areas Ri and Ri′, and carries out the motion estimation of the autonomous mobile machine between the image frames T and T′ on the basis of the positional relationship of the corresponding point pairs Pj of feature points.