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. 16, 2013
Filed:
Aug. 21, 2008
Julian Eggert, Obertshausen, DE;
Sven Rebhan, Obertshausen, DE;
Jens Schmudderich, Rodgau, DE;
Volker Willert, Seligenstadt, DE;
Julian Eggert, Obertshausen, DE;
Sven Rebhan, Obertshausen, DE;
Jens Schmudderich, Rodgau, DE;
Volker Willert, Seligenstadt, DE;
Honda Research Institute Europe GmbH, Offenbach, DE;
Abstract
The invention relates to a method for detecting the proper motion of an real-world object, comprising the steps of acquiring, by an image capturing device (ICD), a first image (I) of the object at a first point in time (t) and a second image (I) at a second point in time (t); obtaining a third (hypothetical) image (I), based on an estimated effect of the motion of the image capturing device (ICD) itself (EMF) between the first and the second point in time (t, t), wherein the effect of the motion of the image capturing device (ICD) itself is estimated based on the forward kinematics of the image capturing device; determining an optical flow (OF) between the second image (I) and the third image (I); and evaluating the optical flow (OF) by incorporating uncertainties of the optical flow (OF) and the ego-motion-flow (EMF) in order to determine the proper motion of the object.