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:
Jun. 03, 2014
Filed:
May. 31, 2011
Gabriel Othmezouri, Brussels, BE;
Ichiro Sakata, Brussels, BE;
Jiri Matas, Roztoky u Prahy, CZ;
{hacek Over (S)}t{hacek Over (E)}pán Obdr{hacek Over (Z)}álek, Praha, CZ;
Gabriel Othmezouri, Brussels, BE;
Ichiro Sakata, Brussels, BE;
Jiri Matas, Roztoky u Prahy, CZ;
{hacek over (S)}t{hacek over (e)}pán Obdr{hacek over (z)}álek, Praha, CZ;
Toyota Motor Europe NV/SA, Brussels, BE;
Czech Technical University in Prague, Praha, CZ;
Abstract
Methods and systems for egomotion estimation (e.g. of a vehicle) from visual inputs of a stereo pair of video cameras are described. 3D egomotion estimation is a six degrees of freedom problem in general. In embodiments of the present invention, this is simplified to four dimensions and further decomposed to two two-dimensional sub-solutions. The decomposition allows use of a voting strategy that identifies the most probable solution. An input is a set of image correspondences between two temporally consecutive stereo pairs, i.e. feature points do not need to be tracked over time. The experiments show that even if a trajectory is put together as a simple concatenation of frame-to-frame increments, the results are reliable and precise.