Estimation of Panoramic Camera Orientation Relative to a Vehicle Coordinate Frame
First Claim
1. A method for estimating orientation of a camera mounted on a vehicle, comprising:
- determining, by at least one processor, an initial pose estimate of a vehicle having a camera mounted thereon, the initial pose estimate based on global positioning system data, inertial measurement unit data, and wheel odometry data of the vehicle, the global positioning system data, inertial measurement unit data, and wheel odometry data, wherein a pose of the vehicle is defined as a position and orientation of the vehicle relative to the world;
obtaining images from one or more runs of image data captured by the camera, the images each having an orientation;
processing image data from the images to obtain one or more tracks, wherein each track includes a sequence of matched feature points stemming from a single three-dimensional location; and
determining from the initial pose estimate and tracks, a correction parameter to correct the orientations of the images captured by the camera.
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Abstract
A system and method are presented for estimating the orientation of a panoramic camera mounted on a vehicle relative to the vehicle coordinate frame. An initial pose estimate of the vehicle is determined based on global positioning system data, inertial measurement unit data, and wheel odometry data of the vehicle. Image data from images captured by the camera is processed to obtain one or more tracks, each track including a sequence of matched feature points stemming from a same three-dimensional location. A correction parameter determined from the initial pose estimate and tracks can then be used to correct the orientations of the images captured by the camera. The correction parameter can be optimized by deriving a correction parameter for each of a multitude of distinct subsequences of one or more runs. Statistical analysis can be performed on the determined correction parameters to produce robust estimates.
87 Citations
30 Claims
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1. A method for estimating orientation of a camera mounted on a vehicle, comprising:
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determining, by at least one processor, an initial pose estimate of a vehicle having a camera mounted thereon, the initial pose estimate based on global positioning system data, inertial measurement unit data, and wheel odometry data of the vehicle, the global positioning system data, inertial measurement unit data, and wheel odometry data, wherein a pose of the vehicle is defined as a position and orientation of the vehicle relative to the world; obtaining images from one or more runs of image data captured by the camera, the images each having an orientation; processing image data from the images to obtain one or more tracks, wherein each track includes a sequence of matched feature points stemming from a single three-dimensional location; and determining from the initial pose estimate and tracks, a correction parameter to correct the orientations of the images captured by the camera. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 25)
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19. A computer program product comprising a computer readable storage medium having control logic stored therein for causing a computer to estimate orientation of a camera mounted on a vehicle, the control logic comprising:
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a first computer readable program code that enables the computer to determine an initial pose estimate of a vehicle having a camera mounted thereon, the initial pose estimate based on global positioning system data, inertial measurement unit data, and wheel odometry data of the vehicle, wherein a pose of the vehicle is defined as a position and orientation of the vehicle relative to the world; a second computer readable program code that enables the computer to obtain images from one or more runs of image data captured by the camera, the images each having an orientation; a third computer readable program code that enables the computer to process image data from the images to obtain one or more tracks, wherein each track includes a sequence of matched feature points stemming from a single three-dimensional location; and a fourth computer readable program code that enables the computer to determine, from the initial pose estimate and tracks, a correction parameter to correct the orientations of the images captured by the camera. - View Dependent Claims (20, 21, 22, 23, 24)
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26. A system for estimating orientation of a camera mounted on a vehicle, comprising:
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a pose estimate module that determines an initial pose estimate of the vehicle based on global positioning system data, inertial measurement unit data, and wheel odometry data of the vehicle, wherein a pose of the vehicle is defined as a position and orientation of the vehicle relative to the world; an image processing module that processes image data from one or more runs of image data captured by a camera mounted on the vehicle, the images each having an orientation, to obtain one or more tracks, wherein each track includes a sequence of matched feature points stemming from a single three-dimensional location; and an optimizer module, in communication with the pose estimate module and the image processing module, that determines, from the initial pose estimate and tracks, a correction parameter to correct the orientations of the images. - View Dependent Claims (27)
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28. A system for estimating orientation of a camera mounted on a vehicle, comprising:
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one or more vehicle databases containing global positioning system data, inertial measurement unit data, and wheel odometry data of a vehicle; an image database of images and corresponding image data from one or more runs of image data captured by a camera mounted on the vehicle, the images each having an orientation; a pose estimate module, in communication with the one or more vehicle databases, that determines an initial pose estimate of the vehicle based on the global positioning system data, the inertial measurement unit data, and the wheel odometry data of the vehicle, wherein a pose of the vehicle is defined as a position and orientation of the vehicle relative to the world; an image processing module, in communication with the image database, that processes the image data to obtain one or more tracks, wherein each track includes a sequence of matched feature points stemming from a single three-dimensional location; and an optimizer module, in communication with the pose estimate module and the image processing module, that determines, from the initial pose estimate and tracks, a correction parameter to correct the orientations of the images. - View Dependent Claims (29, 30)
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Specification