METHODS, SYSTEMS, AND COMPUTER READABLE MEDIA FOR VISUAL ODOMETRY USING RIGID STRUCTURES IDENTIFIED BY ANTIPODAL TRANSFORM
First Claim
1. A method for visual odometry using rigid structures identified by an antipodal transform, the method comprising:
- receiving a sequence of images captured by a camera;
identifying rigid structures in the images using an antipodal transform; and
identifying correspondence between rigid structures in different image frames;
estimating a path of motion of the camera based on motion of corresponding rigid structures among the different image frames.
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Accused Products
Abstract
The subject matter described herein includes methods for visual odometry using rigid structures identified by an antipodal transform. One exemplary method includes receiving a sequence of images captured by a camera. The method further includes identifying rigid structures in the images using an antipodal transform. The method further includes identifying correspondence between rigid structures in different image frames. The method further includes estimating motion of the camera based on motion of corresponding rigid structures among the different image frames.
11 Citations
25 Claims
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1. A method for visual odometry using rigid structures identified by an antipodal transform, the method comprising:
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receiving a sequence of images captured by a camera; identifying rigid structures in the images using an antipodal transform; and identifying correspondence between rigid structures in different image frames; estimating a path of motion of the camera based on motion of corresponding rigid structures among the different image frames. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for visual odometry using rigid structures identified by an antipodal transform, the system comprising:
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a line and point feature extractor for receiving a sequence of images captured by a camera, identifying rigid structures in the images using an antipodal transform, and identifying correspondence between rigid structures in different image frames; and a camera motion estimator estimating a path of motion of the camera based on motion of corresponding rigid structures among the different image frames. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A non-transitory computer readable medium having stored thereon executable instructions that when executed by the processor of a computer control the computer to perform steps comprising:
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receiving a sequence of images captured by a camera; identifying rigid structures in the images using an antipodal transform; and identifying correspondence between rigid structures in different image frames; estimating a path of motion of the camera based on motion of corresponding rigid structures among the different image frames.
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Specification