REAL-TIME MONOCULAR VISUAL ODOMETRY
First Claim
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1. A method for multithreaded visual odometry, comprisingacquired with a single camera on-board a vehicle;
- using 2D-3D correspondences for continuous pose estimation;
combining the pose estimation with 2D-2D epipolar search to replenish 3D points; and
generating structure-from-motion (SFM).
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Abstract
Systems and methods are disclosed for multithreaded visual odometry by acquired with a single camera on-board a vehicle; using 2D-3D correspondences for continuous pose estimation; and combining the pose estimation with 2D-2D epipolar search to replenish 3D points.
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Citations
20 Claims
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1. A method for multithreaded visual odometry, comprising
acquired with a single camera on-board a vehicle; -
using 2D-3D correspondences for continuous pose estimation; combining the pose estimation with 2D-2D epipolar search to replenish 3D points; and generating structure-from-motion (SFM). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A system for multithreaded visual odometry, comprising
a single camera on-board a vehicle; - and
a multi-threaded processor coupled to the camera, the multi-threaded processor using 2D-3D correspondences for continuous pose estimation and combining the pose estimation with 2D-2D epipolar search to replenish 3D points - View Dependent Claims (17, 18, 19, 20)
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Specification