Please download the dossier by clicking on the dossier button x
×

Autonomous Navigation using Visual Odometry

  • US 20170277197A1
  • Filed: 03/22/2016
  • Published: 09/28/2017
  • Est. Priority Date: 03/22/2016
  • Status: Active Grant
First Claim
Patent Images

1. A method for autonomously navigating a vehicle, the method comprising:

  • capturing a sequence of image pairs using a stereo camera;

    a navigation application embedded in a non-transitory memory including a sequence of processor executable instructions for;

    storing a vehicle pose, where a vehicle pose is defined as a position and orientation with respect to a coordination frame;

    detecting a plurality of matching feature points in a first matching image pair;

    determining a plurality of corresponding object points in three-dimensional (3D) space from the first image pair;

    tracking the plurality of feature points from the first image pair to a second image pair;

    determining a plurality of corresponding object points in 3D space from the second image pair;

    calculating a vehicle pose transformation using the object points from the first and second image pairs;

    determining rotation angle and translation from the vehicle pose transformation; and

    ,when the rotation angle or translation exceed a minimum threshold, updating the stored vehicle pose.

View all claims
  • 2 Assignments
Timeline View
Assignment View
    ×
    ×