Method and system for real-time visual odometry
First Claim
1. A method for real-time visual odometry, the method comprising:
- capturing a first three-dimensional image of a location at a first time;
capturing a second three-dimensional image of the location at a second time that is later than the first time;
extracting one or more features and their descriptors from each of the first and second three-dimensional images;
matching one or more features from the first three-dimensional image with one or more features from the second three-dimensional image; and
determining a change in rotation and a change in translation between the first and second three-dimensional images from the first time to the second time using a random sample consensus (RANSAC) process and an iterative refinement technique, wherein the iterative refinement technique comprises;
receiving a first set of inliers and changes in rotation and translation for the first set of inliers outputted from the RANSAC process;
scoring the changes in rotation and translation for the first set of inliers;
operating on the first set of inliers using a least squares method in a first joint trial to produce a second set of inliers during a first iteration;
computing changes in rotation and translation for the second set of inliers from the first joint trial;
scoring the changes in rotation and translation for the second set of inliers from the first joint trial; and
comparing the score of the changes in rotation and translation for the first set of inliers with the score of the changes in rotation and translation for the second set of inliers to determine appropriate outputs during the first iteration.
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Abstract
A method for real-time visual odometry comprises capturing a first three-dimensional image of a location at a first time, capturing a second three-dimensional image of the location at a second time that is later than the first time, and extracting one or more features and their descriptors from each of the first and second three-dimensional images. One or more features from the first three-dimensional image are then matched with one or more features from the second three-dimensional image. The method further comprises determining changes in rotation and translation between the first and second three-dimensional images from the first time to the second time using a random sample consensus (RANSAC) process and a unique iterative refinement technique.
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Citations
20 Claims
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1. A method for real-time visual odometry, the method comprising:
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capturing a first three-dimensional image of a location at a first time; capturing a second three-dimensional image of the location at a second time that is later than the first time; extracting one or more features and their descriptors from each of the first and second three-dimensional images; matching one or more features from the first three-dimensional image with one or more features from the second three-dimensional image; and determining a change in rotation and a change in translation between the first and second three-dimensional images from the first time to the second time using a random sample consensus (RANSAC) process and an iterative refinement technique, wherein the iterative refinement technique comprises; receiving a first set of inliers and changes in rotation and translation for the first set of inliers outputted from the RANSAC process; scoring the changes in rotation and translation for the first set of inliers; operating on the first set of inliers using a least squares method in a first joint trial to produce a second set of inliers during a first iteration; computing changes in rotation and translation for the second set of inliers from the first joint trial; scoring the changes in rotation and translation for the second set of inliers from the first joint trial; and comparing the score of the changes in rotation and translation for the first set of inliers with the score of the changes in rotation and translation for the second set of inliers to determine appropriate outputs during the first iteration. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A system for real-time visual odometry, comprising:
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an image sensor device configured to capture consecutive three-dimensional images each comprising a left image frame and a right image frame; an image rectifier configured to project the left image frame and the right image frame onto a common image surface; a first processor configured to extract one or more features and their descriptors from the left image frame; a second processor in parallel with the first processor and configured to extract one or more features and their descriptors from the right image frame; a first feature matching unit configured to match one or more features from the left image frame with one or more features from the right image frame; a second feature matching unit configured to match one or more features from the left image frame and the right image frame, respectively, with one or more features from a subsequent left image frame and right image frame; and a robust pose estimator configured to determine a change in rotation and a change in translation between the consecutive three-dimensional images, wherein the robust pose estimator comprises program code for a random sample consensus (RANSAC) process and a refinement technique, wherein the refinement technique comprises; program code to receive a first set of inliers and changes in rotation and translation for the first set of inliers outputted from the RANSAC process; program code to score the changes in rotation and translation for the first set of inliers; program code to operate on the first set of inliers using a least squares method in a first joint trial to produce a second set of inliers; program code to compute changes in rotation and translation for the second set of inliers from the first joint trial; and program code to score the changes in rotation and translation for the second set of inliers from the first joint trial. - View Dependent Claims (17, 18)
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19. A computer program product, comprising:
a non-transitory computer readable medium having instructions stored thereon for implementing a method for real-time visual odometry using a random sample consensus (RANSAC) process and an iterative refinement technique, wherein the iterative refinement technique comprises; receiving a first set of inliers and changes in rotation and translation for the first set of inliers outputted from the RANSAC process; scoring the changes in rotation and translation for the first set of inliers; operating on the first set of inliers using a least squares method in a first joint trial to produce a second set of inliers; computing changes in rotation and translation for the second set of inliers from the first joint trial; scoring the changes in rotation and translation for the second set of inliers from the first joint trial; and comparing the score of the changes in rotation and translation for the first set of inliers with the score of the changes in rotation and translation for the second set of inliers to determine appropriate outputs during one or more iterations. - View Dependent Claims (20)
Specification