METHOD FOR ESTIMATING THE ANGULAR DEVIATION OF A MOBILE ELEMENT RELATIVE TO A REFERENCE DIRECTION

• US 20160055646A1
• Filed: 04/09/2014
• Published: 02/25/2016
• Est. Priority Date: 04/11/2013
• Status: Abandoned Application

• Current Assignee: Association Pour La Recherche et Le Developpement Des Methodes et Processus Industriels Armines, SoftBank Robotics Europe SAS
• Original Assignee: Association Pour La Recherche et Le Developpement Des Methodes et Processus Industriels Armines, Aldebaran Robotics S.A. (SoftBank Group Corp.)
• Inventors: WIRBEL, Emilie, DURIEZ, Franck, DE LA FORTELLE, Arnaud, STEUX, Bruno, BONNABEL, Silvre
• Application Number:
  US14/783,410
• Publication Number:
  US 20160055646A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/74 involving reference images or patches

Abstract

A method for estimating the angular deviation of a moving element relative to a reference direction comprises the following steps: acquisition of a reference image of a reference direction of the moving element; acquisition of a current image of the current direction of the moving element; identification of points of interest in the reference image and in the current image; determination of at least two pairs of points of interest, one pair being made up of a point of interest in the current image and of a point of interest corresponding thereto in the reference image; determination of the angular deviation between the current direction and the reference direction of the moving element by using the at least two pairs of points identified in the preceding step.

Claims

1. A method for estimating the angular deviation of a moving element relative to a reference direction, the method comprising the following steps:

acquisition of a reference image that is representative of a reference direction of the moving element;

acquisition of a current image that is representative of the current direction of the moving element;

identification of points of interest in the reference image and in the current image;

determination of at least two pairs of points of interest, one pair being made up of a point of interest in the current image and of a point of interest corresponding thereto in the reference image;

determination of the angular deviation between the current direction and the reference direction of the moving element by using the at least two pairs of points identified in the preceding step.

2. The method as claimed in claim 1, in which the points of interest are associated with descriptors corresponding to binary vectors, the step of determination of the pairs being implemented by means of comparison of these vectors in twos, a couple of points of interest being identified when the two vectors of two points of interest are considered to be closest in relation to other candidate vectors associated with other points of interest.

3. The method as claimed in claim 1, in which the angular deviation is determined along the three axes X, Y, Z of an orthonormal reference frame that is fixed in relation to the moving element.

4. The method as claimed in claim 1, comprising a step of verification of the quality of the estimation of the angular deviation, the quality being considered sufficient when the number of pairs of matched points of interest exceeds a predefined threshold value.

5. The method as claimed in claim 4, in which a new reference image is acquired when the quality is considered insufficient.

6. The method as claimed in claim 1, in which the refresh rate of the reference image is adapted according to the quality of the points of interest, said quality being estimated from the level of correct points of interest and the reference image being updated as soon as this level is below a predefined threshold value.

7. The method as claimed in claim 1, in which the refresh rate of the current image is adapted according to the estimated mean distance between the points of interest identified in the current image, the refresh rate being increased when the points of interest approach one another.

8. The method as claimed in claim 1, in which the reference direction corresponds to a target course that the moving element needs to follow in order to move, commands for controlling the movement of the moving element being determined and applied so that the angular deviation estimated by the method minimized.

9. The method as claimed in claim 1, in which the reference image is chosen so that it remains at least partially in the field of vision of a sensor responsible for acquiring the current image so that a predefined minimum number of points of interest can be matched.

10. The method as claimed in claim 1, in which the initially estimated angular deviation is a radians in relation to a target course that the moving element needs to follow in order to move, the reference direction then corresponding to the target course to which an angular deviation of −

α

/2 radians is added, commands for controlling the movement of the moving element being determined and applied so that the angular deviation estimated subsequently is as close as possible to +α

/2 radians.

11. The method as claimed in claim 1, in which the reference image is obtained by an image sensor that is onboard the moving element and directed in the reference direction at the moment of the shot.

12. A method for estimating the angular position of a moving element in a point of reference that is fixed in relation to a navigation space, the method comprising the following steps:

acquisition of a panorama that is made up of a plurality of images covering the navigation space, one image of the panorama being representative of a direction leaving the moving element;

estimation of the angular position of the moving object by odometry;

selection of a reference image from the images of the panorama, said image corresponding to the angular position estimated in the preceding step;

refined estimation of the angular position of the moving element, said angular position being deduced from an angular drift estimated by application of the method as claimed in claim 1 with the selected reference image.

13. The method as claimed in claim 12, in which the moving element is a robot of humanoid type.

14. The method as claimed in claim 12, in which the moving element is an automobile.

15. A humanoid robot comprising means adapted to implementing the method as claimed in claim 1.

16. A computer program having instructions for executing the method as claimed in claim 1 when the program is executed by a data processing module.