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System for computing the self-motion of moving images devices

  • US 4,969,036 A
  • Filed: 03/31/1989
  • Issued: 11/06/1990
  • Est. Priority Date: 03/31/1989
  • Status: Expired due to Fees
First Claim
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1. An imaging device capable of determining its own self-motion from its imaging, comprising:

  • imaging means for detecting a sequence of images in a field of view;

    token tracking means, connected to said imaging means, for determining two-dimensional displacement vectors of selected tokens for each consecutive pair of images, and wherein said token tracking means tracks stationary parts of a visual environment in the images, using two-dimensional, references such as corner points, contour segments, region boundaries as references, from image to image, wherein the two-dimensional displacement vectors are the result of camera motion;

    seeker means, connected to said token tracking means, for selecting candidate locations for focus of expansion under forward translation of said imaging means and for focus of contraction under backward translation of said imaging device, for forming a connected image region of the candidate locations and a range of corresponding rotations, and for outputting focus of expansion or contraction and image rotation estimates; and

    optimal rotation means, connected to said token tracking means and to said seeker means, for determining optimal three-dimensional rotation angles plus an error value for a selected candidate location for focus of expansion or contraction.

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