Real-time monocular visual odometry
First Claim
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1. A method for multithreaded visual odometry, comprising acquiring images with a single camera on-board a vehicle;
- using 2D-3D correspondences for continuous pose estimation with a pose local bundle adjustment (LBA) system including a feature matching engine using three or more parallel CPU threads with pose estimation across all threads, followed by local bundle adjustment in the primary thread;
using a local bundle cache including a frame cache and a match cache, wherein the frame cache stores feature locations, descriptors and camera poses from most recent frames and images, wherein the match cache comprises a list of tables, one element corresponding to each frame with a key into the table being an identity of a 3D point visible in the frame and stored entries are identities of corresponding 2D features in the frames;
combining the pose estimation with 2D-2D epipolar search to replenish 3D points; and
generating structure-from-motion (SFM).
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Abstract
Systems and methods are disclosed for multithreaded visual odometry by acquired with a single camera on-board a vehicle; using 2D-3D correspondences for continuous pose estimation; and combining the pose estimation with 2D-2D epipolar search to replenish 3D points.
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Citations
20 Claims
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1. A method for multithreaded visual odometry, comprising acquiring images with a single camera on-board a vehicle;
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using 2D-3D correspondences for continuous pose estimation with a pose local bundle adjustment (LBA) system including a feature matching engine using three or more parallel CPU threads with pose estimation across all threads, followed by local bundle adjustment in the primary thread; using a local bundle cache including a frame cache and a match cache, wherein the frame cache stores feature locations, descriptors and camera poses from most recent frames and images, wherein the match cache comprises a list of tables, one element corresponding to each frame with a key into the table being an identity of a 3D point visible in the frame and stored entries are identities of corresponding 2D features in the frames; combining the pose estimation with 2D-2D epipolar search to replenish 3D points; and generating structure-from-motion (SFM). - 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 multithreaded visual odometry, comprising:
a single camera on-board a vehicle; and a multi-threaded processor coupled to the camera, the multi-threaded processor using 2D-3D correspondences for continuous pose estimation with a pose local bundle adjustment (LBA) system including a feature matching engine using three or more parallel CPU threads with pose estimation across all threads, followed by local bundle adjustment in the primary thread; a local bundle cache including a frame cache and a match cache, wherein the frame cache stores feature locations, descriptors and camera poses from most recent frames and images, wherein the match cache comprises a list of tables, one element corresponding to each frame with a key into the table being an identity of a 3D point visible in the frame and stored entries are identities of corresponding 2D features in the frames; combining the pose estimation with 2D-2D epipolar search to replenish 3D points. - View Dependent Claims (17, 18, 19, 20)
Specification