SINGLE-CAMERA DISTANCE ESTIMATION
First Claim
Patent Images
1. A method for determining a distance to an obstacle from a camera mounted to an automobile, the method comprising:
- tracking a plurality of features across two or more successive images;
identifying off-ground features from the tracked plurality of features based on a ground motion estimate and respective motion of the plurality of features tracked across two or more successive images; and
calculating for each off-ground feature of the plurality of features a distance to the camera based on motion of the feature in the images captured by the camera projected to a ground-plane and the ground motion estimate.
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Abstract
Systems and methods for estimating distances to objects or features are described. The distance estimation tracks features across images captured from a single camera and uses an estimation of the ground motion to determine the distance estimate to the tracked features.
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Citations
29 Claims
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1. A method for determining a distance to an obstacle from a camera mounted to an automobile, the method comprising:
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tracking a plurality of features across two or more successive images; identifying off-ground features from the tracked plurality of features based on a ground motion estimate and respective motion of the plurality of features tracked across two or more successive images; and calculating for each off-ground feature of the plurality of features a distance to the camera based on motion of the feature in the images captured by the camera projected to a ground-plane and the ground motion estimate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 26, 27, 28, 29)
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11. A processor for executing instructions stored in memory, the processor for determining a distance to an obstacle from a camera mounted to an automobile, the instructions configuring the processor to:
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track a plurality of features across two or more successive images; identify off-ground features from the tracked plurality of features based on a ground motion estimate and respective motion of the plurality of features tracked across two or more successive images; and for each off-ground feature, calculate a distance to the camera based on motion of the feature in the images captured by the camera projected to a ground-plane and the ground motion estimate. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 22, 23, 24, 25)
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21. A system for determining a distance to an obstacle, the system comprising:
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a camera to be mounted to an automobile; a memory for storing instructions; and a processor for executing instructions, the processor for determining a distance to an obstacle from the camera when mounted to the automobile, the instructions configuring the system to; track a plurality of features across two or more successive images; identify off-ground features from the tracked plurality of features based on a ground motion estimate and respective motion of the plurality of features tracked across two or more successive images; and for each off-ground feature, calculate a distance to the camera based on motion of the feature in the images captured by the camera projected to a ground-plane and the ground motion estimate.
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Specification