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Stereo-Based Visual Odometry Method and System

  • US 20080144925A1
  • Filed: 08/03/2007
  • Published: 06/19/2008
  • Est. Priority Date: 08/15/2006
  • Status: Active Grant
First Claim
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1. A method for obtaining a pose of an object from a sequence of images, comprising the steps of:

  • (a) detecting at least three feature points in both the left image and right image of a first pair of stereo images at a first point in time;

    (b) matching the at least three feature points in the left image to the at least three feature points in the right image to obtain at least three two-dimensional feature correspondences;

    (c) calculating the three-dimensional coordinates of the at least three two-dimensional feature correspondences to obtain at least three three-dimensional reference feature points;

    (d) tracking the at least three feature points in one of the left image and right image of a second pair of stereo images at a second point in time different from the first point in time to obtain at least three two-dimensional reference feature points; and

    (e) calculating a pose based on the at least three three-dimensional reference feature points and its corresponding two-dimensional reference feature points in the stereo images.

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