Motion estimating device
First Claim
1. A motion estimating device that captures images of an ambient environment of an autonomous mobile machine by using an imaging device, and estimates a motion state of the autonomous mobile machine on the basis of a change in respective captured images of the ambient environment, the motion estimating device comprising:
- an image area removing section detecting mobile objects which exist in the respective captured images of the ambient environment, and removing image areas corresponding to the mobile objects;
a corresponding feature point extracting section extracting corresponding feature points from the respective captured images having removed the image areas corresponding to the mobile objects; and
a first estimating section estimating the motion state of the autonomous mobile machine on the basis of a positional relationship between the corresponding feature points of the respective captured images.
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Accused Products
Abstract
A motion estimating device first detects mobile objects Oi and Oi′ in continuous image frames T and T′, and acquires image areas Ri and Ri′ corresponding to the mobile objects Oi and Oi′. Then, the motion estimating device removes the image areas Ri and Ri′ corresponding to the mobile objects Oi and Oi′ in the image frames T and T′, extracts corresponding point pairs Pj of feature points between the image frames T and T′ from the image areas having removed the image areas Ri and Ri′, and carries out the motion estimation of the autonomous mobile machine between the image frames T and T′ on the basis of the positional relationship of the corresponding point pairs Pj of feature points.
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Citations
4 Claims
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1. A motion estimating device that captures images of an ambient environment of an autonomous mobile machine by using an imaging device, and estimates a motion state of the autonomous mobile machine on the basis of a change in respective captured images of the ambient environment, the motion estimating device comprising:
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an image area removing section detecting mobile objects which exist in the respective captured images of the ambient environment, and removing image areas corresponding to the mobile objects; a corresponding feature point extracting section extracting corresponding feature points from the respective captured images having removed the image areas corresponding to the mobile objects; and a first estimating section estimating the motion state of the autonomous mobile machine on the basis of a positional relationship between the corresponding feature points of the respective captured images. - View Dependent Claims (2, 3, 4)
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Specification