Method For Determining The Self-Motion Of A Vehicle
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Abstract
A method and a device for determining the self-motion of a vehicle in an environment are provided, in which at least part of the environment is recorded via snapshots by an imaging device mounted on the vehicle. At least two snapshots are analyzed for determining the optical flows of image points, reference points that seem to be stationary from the point of view of the imaging device being ascertained from the optical flows. The reference points are collected in an observed set, new reference points being dynamically added to the observed set with the aid of a first algorithm, and existing reference points being dynamically removed from the observed set with the aid of a second algorithm.
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Citations
28 Claims
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1-14. -14. (canceled)
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15. A method for determining a self-motion of a vehicle in a surrounding environment, comprising:
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recording a plurality of snapshots of at least part of the environment by an imaging device fixed in a selected position on the vehicle; analyzing at least two snapshots for determining optical flows of image points, wherein reference points that appear to be stationary from the point of view of the imaging device are ascertained from the optical flows, and wherein the reference points are grouped in an observed set; and dynamically changing the observed set, wherein new reference points are dynamically added to the observed set with the aid of a first predetermined algorithm, and existing reference points are dynamically removed from the observed set with the aid of a second predetermined algorithm. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. A device for determining a self-motion of a vehicle in a surrounding environment, comprising:
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an imaging device for recording a plurality of snapshots of at least part of the environment, wherein the imaging device is fixed in a selected position on the vehicle; an ascertaining device for determining optical flows of image points by analyzing at least two snapshots, wherein reference points that appear to be stationary from the point of view of the imaging device are ascertained from the optical flows, and wherein the reference points are grouped in an observed set; a memory device for storing the observed set of the reference points; and dynamically changing the observed set, wherein new reference points are dynamically added to the observed set with the aid of a first predetermined algorithm, and existing reference points are dynamically removed from the observed set with the aid of a second predetermined algorithm. a first logic circuit and a second logic circuit for dynamically changing the observed set, wherein new reference points to be dynamically added to the observed set are determined with the aid of a first predetermined algorithm implemented by the first logic circuit, and wherein existing reference points to be dynamically removed from the observed set are determined with the aid of a second predetermined algorithm implemented by the second logic circuit.
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Specification