Unified framework for precise vision-aided navigation
First Claim
1. A computer implemented landmark recognition method comprising:
- capturing a pair of stereo images comprising a view of one or more landmarks obtained by each of a plurality of cameras, where each camera in the plurality of cameras has different position measurement data comprising location, depth and pose as compared to position measurement data of each other camera;
computing a descriptor for each of the one or more landmarks based on the pair of stereo images;
computing a landmark snapshot for each landmark of the one or more landmarks in the pair of stereo images, the landmark snapshot comprising the descriptor for the landmark combined with a spatial configuration for the landmark; and
comparing between the landmark snapshot for each of the one or more landmarks in the pair of stereo images to identify corresponding landmarks in the pair of stereo images.
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Abstract
A system and method for efficiently locating in 3D an object of interest in a target scene using video information captured by a plurality of cameras. The system and method provide for multi-camera visual odometry wherein pose estimates are generated for each camera by all of the cameras in the multi-camera configuration. Furthermore, the system and method can locate and identify salient landmarks in the target scene using any of the cameras in the multi-camera configuration and compare the identified landmark against a database of previously identified landmarks. In addition, the system and method provide for the integration of video-based pose estimations with position measurement data captured by one or more secondary measurement sensors, such as, for example, Inertial Measurement Units (IMUs) and Global Positioning System (GPS) units.
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Citations
20 Claims
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1. A computer implemented landmark recognition method comprising:
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capturing a pair of stereo images comprising a view of one or more landmarks obtained by each of a plurality of cameras, where each camera in the plurality of cameras has different position measurement data comprising location, depth and pose as compared to position measurement data of each other camera; computing a descriptor for each of the one or more landmarks based on the pair of stereo images; computing a landmark snapshot for each landmark of the one or more landmarks in the pair of stereo images, the landmark snapshot comprising the descriptor for the landmark combined with a spatial configuration for the landmark; and comparing between the landmark snapshot for each of the one or more landmarks in the pair of stereo images to identify corresponding landmarks in the pair of stereo images. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. An apparatus for landmark recognition comprising:
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a plurality of cameras that capture a pair of stereo images comprising a view of one or more landmarks obtained by each of the plurality of cameras, where each camera in the plurality of cameras has different position measurement data comprising location, depth and pose as compared to position measurement data of each other camera; one or more processors, coupled to the plurality of cameras; and one or more storage devices with executable instructions stored thereon that when executed by the one or more processors perform a method comprising; computing a descriptor for each of the one or more landmarks based on the pair of stereo images; computing a landmark snapshot for each landmark of the one or more landmarks in the pair of stereo images, the landmark snapshot comprising the descriptor for the landmark combined with a spatial configuration for the landmark; and comparing between the landmark snapshot for each of the one or more landmarks in the pair of stereo images to identify corresponding landmarks in the pair of stereo images. - View Dependent Claims (19, 20)
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Specification