Methods and apparatus to perform visual odometry using a vehicle camera system
First Claim
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1. An apparatus comprising:
- a method fusioner to;
determine a visual odometry method using a surface characterization to calculate first odometry data;
calculate a first weight factor for the visual odometry method based on the surface characterization; and
calculate a second weight factor corresponding to an odometry method using sensor information;
a displacement determiner to calculate second odometry data based on the sensor information;
an odometry calculator to;
multiply the first weight factor and the first odometry data to produce a first odometry parameter;
multiply the second weight factor and the second odometry data to produce a second odometry parameter; and
calculate a third odometry parameter of a target object with respect to a vehicle based on a fusion of the first odometry parameter and the second odometry parameter; and
a vehicle command generator to generate a vehicle command based on the third odometry parameter.
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Abstract
Methods, apparatus, systems, and articles of manufacture are disclosed to perform visual odometry using a monocular camera. An example apparatus includes a method fusioner to determine a visual odometry method using a surface characterization to calculate first odometry data, a displacement determiner to calculate second odometry data based on sensor information, an odometry calculator to calculate an odometry parameter of a target object with respect to a vehicle based on the first and the second odometry data, and a vehicle command generator to generate a vehicle command based on the odometry parameter.
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Citations
20 Claims
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1. An apparatus comprising:
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a method fusioner to; determine a visual odometry method using a surface characterization to calculate first odometry data; calculate a first weight factor for the visual odometry method based on the surface characterization; and calculate a second weight factor corresponding to an odometry method using sensor information; a displacement determiner to calculate second odometry data based on the sensor information; an odometry calculator to; multiply the first weight factor and the first odometry data to produce a first odometry parameter; multiply the second weight factor and the second odometry data to produce a second odometry parameter; and calculate a third odometry parameter of a target object with respect to a vehicle based on a fusion of the first odometry parameter and the second odometry parameter; and a vehicle command generator to generate a vehicle command based on the third odometry parameter. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method comprising:
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determining a visual odometry method based on characterizing a surface to calculate first odometry data; calculating a first weight factor for the visual odometry method based on characterizing the surface; multiplying the first weight factor and the first odometry data to produce a first odometry parameter; calculating second odometry data based on sensor information; calculating a second weight factor corresponding to an odometry method using the sensor information; multiplying the second weight factor and the second odometry data to produce a second odometry parameter; calculating a third odometry parameter of a target object with respect to a vehicle based on a fusion of the first odometry parameter and the second odometry parameter; and generating a vehicle command based on the third odometry parameter. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A non-transitory computer readable storage medium comprising instructions which, when executed, cause a machine to at least:
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determine a visual odometry method based on characterizing a surface to calculate first odometry data; calculate a first weight factor for the visual odometry method based on characterizing the surface; multiply the first weight factor and the first odometry data to produce a first odometry parameter; calculate second odometry data based on sensor information; calculate a second weight factor corresponding to an odometry method using the sensor information; multiply the second weight factor and the second odometry data to produce a second odometry parameter; calculate a third odometry parameter of a target object with respect to a vehicle based on a fusion of the first odometry parameter and the second odometry parameter; and generate a vehicle command based on the third odometry parameter. - View Dependent Claims (16, 17)
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18. An apparatus comprising:
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a method fusioner to determine a visual odometry method based on a characterization of a surface to calculate first odometry data; a displacement determiner to calculate second odometry data based on sensor information; an odometry calculator to calculate an odometry parameter of a target object with respect to a vehicle based on the first odometry data and the second odometry data by executing a tracking filter using a first noise model corresponding to the visual odometry method and a second noise model corresponding to an odometry method using the sensor information; and a vehicle command generator to generate a vehicle command based on the odometry parameter. - View Dependent Claims (19, 20)
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Specification