Methods, systems, and computer readable media for visual odometry using rigid structures identified by antipodal transform
First Claim
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1. A method for visual odometry using rigid structures identified by an antipodal transform, the method comprising:
- receiving a sequence of images captured by a camera;
identifying rigid structures in the images using an antipodal transform;
identifying correspondence between rigid structures in different image frames; and
estimating a path of motion of the camera based on motion of corresponding rigid structures among the different image frames;
wherein identifying rigid structures using the antipodal transform includes;
generating a binary occupancy matrix for pixels in an image frame, wherein each element in the occupancy matrix indicates whether the pixel includes point on a structure or not;
linearizing the matrix;
marking occupied elements in the matrix as having a score that is different from unoccupied elements; and
for each unoccupied element in the matrix, determining a distance in each of a plurality of directions to the nearest occupied element, computing a score for each distance, and summing the scores for each distance, and identifying the rigid structures using the scores.
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Abstract
The subject matter described herein includes methods for visual odometry using rigid structures identified by an antipodal transform. One exemplary method includes receiving a sequence of images captured by a camera. The method further includes identifying rigid structures in the images using an antipodal transform. The method further includes identifying correspondence between rigid structures in different image frames. The method further includes estimating motion of the camera based on motion of corresponding rigid structures among the different image frames.
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Citations
23 Claims
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1. A method for visual odometry using rigid structures identified by an antipodal transform, the method comprising:
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receiving a sequence of images captured by a camera; identifying rigid structures in the images using an antipodal transform; identifying correspondence between rigid structures in different image frames; and estimating a path of motion of the camera based on motion of corresponding rigid structures among the different image frames; wherein identifying rigid structures using the antipodal transform includes; generating a binary occupancy matrix for pixels in an image frame, wherein each element in the occupancy matrix indicates whether the pixel includes point on a structure or not; linearizing the matrix; marking occupied elements in the matrix as having a score that is different from unoccupied elements; and for each unoccupied element in the matrix, determining a distance in each of a plurality of directions to the nearest occupied element, computing a score for each distance, and summing the scores for each distance, and identifying the rigid structures using the scores. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for visual odometry using rigid structures identified by an antipodal transform, the system comprising:
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a line and point feature extractor for receiving a sequence of images captured by a camera, identifying rigid structures in the images using an antipodal transform, and identifying correspondence between rigid structures in different image frames; and a camera motion estimator estimating a path of motion of the camera based on motion of corresponding rigid structures among the different image frames; wherein the line and point feature extractor is configured to compute the antipodal transform by; generating a binary occupancy matrix for pixels in an image frame, wherein each element in the occupancy matrix indicates whether the pixel includes point on a structure or not; linearizing the matrix; marking occupied elements in the matrix as having a score that is different from unoccupied elements; for each unoccupied element in the matrix, determining a distance in each of a plurality of directions to the nearest occupied element, computing a score for each distance, and summing the scores for each distance, and identifying the rigid structures using the scores. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A non-transitory computer readable medium having stored thereon executable instructions that when executed by the processor of a computer control the computer to perform steps comprising:
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receiving a sequence of images captured by a camera; identifying rigid structures in the images using an antipodal transform; identifying correspondence between rigid structures in different image frames; and estimating a path of motion of the camera based on motion of corresponding rigid structures among the different image frames; wherein identifying rigid structures using the antipodal transform includes; generating a binary occupancy matrix for pixels in an image frame, wherein each element in the occupancy matrix indicates whether the pixel includes point on a structure or not; linearizing the matrix; marking occupied elements in the matrix as having a score that is different from unoccupied elements; and for each unoccupied element in the matrix, determining a distance in each of a plurality of directions to the nearest occupied element, computing a score for each distance, and summing the scores for each distance, and identifying the rigid structures using the scores.
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Specification