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Visual odometry for low illumination conditions using fixed light sources

  • US 10,127,461 B2
  • Filed: 08/12/2016
  • Issued: 11/13/2018
  • Est. Priority Date: 08/12/2016
  • Status: Active Grant
First Claim
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1. A method comprising:

  • capturing first image data comprising a first image, the first image captured by an imaging device;

    identifying a fixed light source from the first image data;

    determining a first ground plane in the first image data;

    determining a first intersection wherein the first intersection is a point in the first image where a virtual lamp post corresponding to the fixed light source in the first image intersects with the first ground plane, wherein the virtual lamp post extends vertically from the fixed light source to the first ground plane;

    capturing second image data comprising a second image, the second image captured by the imaging device, wherein the second image sufficiently overlaps with the first image;

    identifying the fixed light source in the second image data;

    determining a second ground plane in the second image data;

    determining a second intersection, the second intersection is the point in the second image where a virtual lamp post corresponding to the fixed light source in the second image data intersects with the second ground plane;

    transforming the first image data and the second image data to obtain a first inverse perspective map comprising a first transformed intersection and a second inverse perspective map comprising a second transformed intersection; and

    based at least in part on the first transformed intersection and the second transformed intersection, determining one or more movement parameters related to movement of the imaging device between the capturing of the first image data and the capturing of the second image data.

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