EGOMOTION SPEED ESTIMATION ON A MOBILE DEVICE
First Claim
1. A method of estimating motion speed of a mobile device having a first imaging sensor and a second imaging sensor, the method comprising:
- measuring a first distance between the first imaging sensor and a first object and a second distance between the second imaging sensor and a second object;
modifying first optical flow vector values created by the first sensor using the first distance and modifying second optical flow vector values created by the second sensor using the second distance;
calculating a shifting speed and a rotational speed of the mobile device using modified first optical flow vector values and modified second optical flow vector values; and
wherein the first imaging sensor and the second imaging sensor have a specific alignment.
1 Assignment
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Accused Products
Abstract
Linear and rotational speeds of a mobile device are calculated using distance estimates between imaging sensors in the device and objects or scenes in front of the sensors. The distance estimates are used to modify optical flow vectors from the sensors. Shifting and rotational speeds of the mobile device may then be calculated using the modified optical flow vector values. For example, given a configuration where the first imaging sensor and the second imaging sensor face opposite directions on a single axis, a shifting speed is calculated in the following way: multiplying a first optical flow vector and a first distance estimate, thereby deriving a first modified optical flow vector value; multiplying a second optical flow vector and a second distance estimate, thereby deriving a second modified optical flow vector value; the second modified optical flow vector value may then be subtracted from the first modified optical flow vector value, resulting in a measurement of the shifting speed.
36 Citations
24 Claims
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1. A method of estimating motion speed of a mobile device having a first imaging sensor and a second imaging sensor, the method comprising:
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measuring a first distance between the first imaging sensor and a first object and a second distance between the second imaging sensor and a second object; modifying first optical flow vector values created by the first sensor using the first distance and modifying second optical flow vector values created by the second sensor using the second distance; calculating a shifting speed and a rotational speed of the mobile device using modified first optical flow vector values and modified second optical flow vector values; and wherein the first imaging sensor and the second imaging sensor have a specific alignment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A mobile device comprising:
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one or more processors; a memory component; a first imaging sensor for measuring a first optical flow having a first horizontal component and a first vertical component; a second imaging sensor for measuring a second optical flow having a second horizontal component and a second vertical component; an object distance estimator component; an optical flow vector modification module for adjusting a plurality of distance factors; and a speed calculation module using the plurality of adjusted distance factors. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A computer-readable medium containing computer instructions for estimating motion speed of a mobile computing device having a first imaging sensor and a second imaging sensor, the computer-readable medium comprising:
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computer instructions for measuring a first distance between the first imaging sensor and a first object and a second distance between the second imaging sensor and a second object; computer instructions for modifying first optical flow vector values created by the first sensor using the first distance and modifying second optical flow vector values created by the second sensor using the second distance; and computer instructions for calculating a shifting speed and a rotational speed of the mobile device using modified first optical flow vector values and modified second optical flow vector values; wherein the computer-readable medium is a tangible and persistent data storage device. - View Dependent Claims (19, 20, 21, 22, 23, 24)
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Specification