Method and apparatus for visual odometry
First Claim
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1. A method for navigating a surrounding environment, comprising:
- receiving a sequence of scene imagery representing at least a portion of said surrounding environment; and
processing said sequence of scene imagery to derive an estimate of a pose relative to said surrounding environment.
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Abstract
A method and apparatus for visual odometry (e.g., for navigating a surrounding environment) is disclosed. In one embodiment a sequence of scene imagery is received (e.g., from a video camera or a stereo head) that represents at least a portion of the surrounding environment. The sequence of scene imagery is processed (e.g., in accordance with video processing techniques) to derive an estimate of a pose relative to the surrounding environment. This estimate may be further supplemented with data from other sensors, such as a global positioning system or inertial or mechanical sensors.
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Citations
23 Claims
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1. A method for navigating a surrounding environment, comprising:
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receiving a sequence of scene imagery representing at least a portion of said surrounding environment; and
processing said sequence of scene imagery to derive an estimate of a pose relative to said surrounding environment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A computer-readable medium having stored thereon a plurality of instructions, the plurality of instructions including instructions which, when executed by a processor, cause the processor to perform the steps of a method for navigating a surrounding environment, comprising:
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receiving a sequence of scene imagery representing at least a portion of said surrounding environment; and
processing said sequence of scene imagery to derive an estimate of a pose relative to said surrounding environment. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. An apparatus for navigating a surrounding environment, comprising:
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means for receiving a sequence of scene imagery representing at least a portion of said surrounding environment; and
means for processing said sequence of scene imagery to derive an estimate of a pose relative to said surrounding environment.
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Specification