Mobile unit motion calculating method, apparatus and navigation system
First Claim
Patent Images
1. A method of obtaining a motion of a mobile body on which a camera is mounted, using images of a surrounding of the mobile body captured by the camera, comprising:
- a corresponding point calculation step of obtaining a plurality of corresponding points from two of the images having different capturing times;
a first motion calculation step of obtaining a first motion indicating the motion of the mobile body using the plurality of corresponding points, assuming a predetermined plane in the images; and
a second motion calculation step of obtaining a second motion indicating the motion of the mobile body using the first motion and the plurality of corresponding points.
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Abstract
In a mobile body motion calculation apparatus (100), a corresponding point calculation section (101) calculates corresponding points between images captured by a camera 120. A first motion calculation section (102) calculates a first motion (Ma) of a mobile body using the corresponding points, assuming a predetermined plane in the images. A second motion calculation section (103) calculates a second motion (Mb) using the first motion (Ma) and the corresponding points.
23 Citations
14 Claims
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1. A method of obtaining a motion of a mobile body on which a camera is mounted, using images of a surrounding of the mobile body captured by the camera, comprising:
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a corresponding point calculation step of obtaining a plurality of corresponding points from two of the images having different capturing times;
a first motion calculation step of obtaining a first motion indicating the motion of the mobile body using the plurality of corresponding points, assuming a predetermined plane in the images; and
a second motion calculation step of obtaining a second motion indicating the motion of the mobile body using the first motion and the plurality of corresponding points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An apparatus of obtaining a motion of a mobile body on which a camera is mounted, using images of a surrounding of the mobile body captured by the camera, comprising:
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a corresponding point calculation section of obtaining a plurality of corresponding points from two of the images having different capturing times;
a first motion calculation section of obtaining a first motion indicating the motion of the mobile body using the plurality of corresponding points obtained by the corresponding point calculation section, assuming a predetermined plane in the images; and
a second motion calculation section of obtaining a second motion indicating the motion of the mobile body using the first motion obtained by the first motion calculation section and the plurality of corresponding points. - View Dependent Claims (14)
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Specification