Autonomous vehicle and motion control therefor
First Claim
1. An autonomous vehicle, comprising:
- a corresponding point detection unit for detecting corresponding points from at least two consecutive images obtained through a camera;
an orientation measuring unit for computing orientation information of the autonomous vehicle;
an epipolar computation unit for computing epipolar geometry information based on the orientation information and the information on corresponding points;
a motion analysis unit for analyzing motion of the autonomous vehicle based on the computed epipolar geometry information; and
a three-dimensional (3D) information analysis unit for analyzing 3D information of an object existing in front of the autonomous vehicle based on the computed epipolar geometry information.
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Abstract
There are provided an autonomous vehicle, and an apparatus and method for estimating the motion of the autonomous vehicle and detecting three-dimensional (3D) information of an object appearing in front of the moving autonomous vehicle. The autonomous vehicle measures its orientation using an acceleration sensor and a magnetic flux sensor, and extracts epipolar geometry information using the measured orientation information. Since the corresponding points between images required for extracting the epipolar geometry information can be reduced to two, it is possible to more easily and correctly obtain motion information of the autonomous vehicle and 3D information of an object in front of the autonomous vehicle.
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Citations
51 Claims
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1. An autonomous vehicle, comprising:
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a corresponding point detection unit for detecting corresponding points from at least two consecutive images obtained through a camera;
an orientation measuring unit for computing orientation information of the autonomous vehicle;
an epipolar computation unit for computing epipolar geometry information based on the orientation information and the information on corresponding points;
a motion analysis unit for analyzing motion of the autonomous vehicle based on the computed epipolar geometry information; and
a three-dimensional (3D) information analysis unit for analyzing 3D information of an object existing in front of the autonomous vehicle based on the computed epipolar geometry information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An apparatus for estimating the motion of an autonomous vehicle, comprising:
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a corresponding point detection unit for detecting corresponding points from at least two consecutive images obtained through a camera;
an orientation measuring unit for computing orientation information of the autonomous vehicle;
an epipolar computation unit for computing epipolar geometry information based on the orientation information and the information on corresponding points; and
a motion analysis unit for analyzing the motion of the autonomous vehicle based on the computed epipolar geometry information. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. An apparatus for detecting three-dimensional (3D) information of an object existing in front of an autonomous vehicle, comprising:
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a corresponding point detection unit for detecting corresponding points from at least two consecutive images obtained through a camera;
an orientation measuring unit for computing orientation information of the autonomous vehicle;
an epipolar computation unit for computing epipolar geometry information based on the orientation information and the information on corresponding points; and
a 3D information analysis unit for analyzing 3D information of the object existing in front of the autonomous vehicle based on the computed epipolar geometry information. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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25. A method for controlling the motion of an autonomous vehicle, comprising the steps of:
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(a) detecting corresponding points from at least two consecutive images obtained through a camera;
(b) computing orientation information of the autonomous vehicle;
(c) computing epipolar geometry information based on the orientation information and the information on corresponding points;
(d) analyzing the motion of the autonomous vehicle based on the computed epipolar geometry information; and
(e) analyzing three-dimensional information of an object existing in front of the autonomous vehicle based on the computed epipolar geometry information. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 49)
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33. A method for estimating the motion of an autonomous vehicle, comprising the steps of:
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(a) detecting corresponding points from at least two consecutive images obtained through a camera;
(b) computing orientation information of the autonomous vehicle;
(c) computing epipolar geometry information based on the orientation information and the information on corresponding points; and
(d) analyzing motion of the autonomous vehicle based on the computed epipolar geometry information. - View Dependent Claims (34, 35, 36, 37, 38, 39, 40, 50)
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41. A method for detecting three-dimensional (3D) information of an object existing in front of an autonomous vehicle, comprising the steps of:
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(a) detecting corresponding points from at least two consecutive images obtained through a camera;
(b) computing orientation information of the autonomous vehicle;
(c) computing epipolar geometry information based on the orientation information and the information on corresponding points; and
(d) analyzing 3D information of the object existing in front of the autonomous vehicle based on the computed epipolar geometry information. - View Dependent Claims (42, 43, 44, 45, 46, 47, 48, 51)
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Specification