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Methods, systems, and computer readable media for visual odometry using rigid structures identified by antipodal transform

  • US 9,280,832 B2
  • Filed: 05/08/2015
  • Issued: 03/08/2016
  • Est. Priority Date: 05/08/2014
  • Status: Active Grant
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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