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Mobile unit motion calculating method, apparatus and navigation system

  • US 7,542,834 B2
  • Filed: 10/15/2004
  • Issued: 06/02/2009
  • Est. Priority Date: 10/17/2003
  • Status: Active Grant
First Claim
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1. A computer-implemented method of obtaining a motion of a mobile body on which a camera is mounted, using images of a surrounding of the mobile body captured by the camera, comprising:

  • a corresponding point calculation step of obtaining a plurality of corresponding points from two of the images having different capturing times;

    a first motion calculation step of obtaining a first motion indicating the motion of the mobile body using the plurality of corresponding points, assuming a predetermined plane in the images; and

    a second motion calculation step of obtaining a second motion indicating the motion of the mobile body using the first motion and the plurality of corresponding points,wherein the first motion calculation step comprises;

    a first step of selecting q (where q is an integer of two or more) partial corresponding point sets each composed of m (where m is an integer of 3 or more) corresponding points from the plurality of corresponding points;

    a second step of calculating a candidate for the motion of the mobile body from each of the q partial corresponding point sets selected in the first step with a plane expression defining the plane; and

    a third step of evaluating the q motion candidates caculated in the second step with a predetermined evaluation technique, and based on a result of the evaluation, specifying the first motion.

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