Method and apparatus for vision based motion determination
First Claim
Patent Images
1. A method for determining motion comprising:
- determining a rotation of an object from a first time to a second time by analyzing a first two-dimensional (2D) image obtained at the first time and a second 2D image obtained at the second time, the rotation determined with an eight-point algorithm; and
determining a translation of the object from the first time to the second time based on the determined rotation, three-dimensional (3D) information relating to the first 2D image, and 3D information relating to the second 2D image, wherein determining the translation comprises;
inputting the rotation determined by the eight-point algorithm into an absolute orientation algorithm; and
calculating the translation from the determined rotation, the 3D information relating to the first 2D image, and the 3D information relating to the second 2D image.
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Abstract
A method for determining motion is provided. The method determines a rotation of an object from a first time to a second time by analyzing a first 2D image obtained at the first time and a second 2D image obtained at the second time. Then, the method determines a translation of the object from the first time to the second time based on the determined rotation, 3D information relating to the first image, and 3D information relating to the second image.
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Citations
13 Claims
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1. A method for determining motion comprising:
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determining a rotation of an object from a first time to a second time by analyzing a first two-dimensional (2D) image obtained at the first time and a second 2D image obtained at the second time, the rotation determined with an eight-point algorithm; and determining a translation of the object from the first time to the second time based on the determined rotation, three-dimensional (3D) information relating to the first 2D image, and 3D information relating to the second 2D image, wherein determining the translation comprises; inputting the rotation determined by the eight-point algorithm into an absolute orientation algorithm; and calculating the translation from the determined rotation, the 3D information relating to the first 2D image, and the 3D information relating to the second 2D image. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An apparatus for determining motion comprising:
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a processor for executing software; at least one imaging device communicatively coupled to the processor; a storage medium communicatively coupled to the processor from which the processor reads at least a portion of the software for execution thereby, wherein the software is configured to cause the processor to; determine a rotation of an object from a first time to a second time by analyzing a first two-dimensional (2D) image obtained at the first time by the at least one imaging device and a second 2D image obtained at the second time by the at least one imaging device or another imaging device, the rotation determined with an eight-point algorithm, and determine a translation of the object from the first time to the second time based on the determined rotation, three-dimensional (3D) information relating to the first 2D image, and 3D information relating to the second 2D image, wherein the translation is determined by; inputting the rotation determined by the eight-point algorithm into an absolute orientation algorithm; and calculating the translation from the determined rotation, the 3D information relating to the first 2D image, and the 3D information relating to the second 2D image. - View Dependent Claims (8, 9, 10)
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11. A program product comprising a processor-readable medium on which program instructions are embodied, wherein the program instructions are operable to:
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extract a first set of features from a first two-dimensional (2D) image taken at a first time; extract a second set of features from a second 2D image take at a second time; match features from the first set of features with features from the second set of features; determine a rotation between the first time and the second time based on the matched features, the rotation determined with an eight-point algorithm; build a first set of three-dimensional (3D) feature information for the first 2D image from information from the first 2D image and other information obtained at the first time; build a second set of 3D feature information for the second 2D image from information from the second 2D image and other information obtained at the second time; and determine a translation between the first time and the second time based on the determined rotation, the first set of 3D feature information, and the second set of 3D feature information, wherein the translation is determined by; inputting the rotation determined by the eight-point algorithm into an absolute orientation algorithm; and calculating the translation from the determined rotation, the 3D information relating to the first 2D image, and the 3D information relating to the second 2D image. - View Dependent Claims (12, 13)
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Specification