Dense structure from motion
First Claim
1. A method for determining a three-dimensional structure in an environment, the method performed by a system mountable in a host vehicle, wherein the system includes a camera operatively connectible to a processor, the method comprising:
- capturing a plurality of image frames in a field of view of the camera, wherein the plurality of image frames includes a first image frame and a second image frame;
identifying a road of the environment in the first image frame;
in the first image frame, selecting a line, wherein the line separates a first portion of the first image frame determined to include the road of the environment and a second portion of the first image frame determined to exclude the road of the environment;
selecting a first point in the first portion of the first image frame;
matching the first point in the first portion of the first image frame with a second point in the second image frame to produce a first matching;
warping the first portion of the first image frame according to a road homography and ego-motion of the host vehicle to produce a warped portion of the image frame, wherein the ego-motion is based on at least one of speed, inertia, and steering angle of the host vehicle;
detecting in the warped portion of the first image frame a third point corresponding to the first point;
matching the third point in the warped portion of the first image frame with the second point in the second image frame to produce a second matching; and
selecting from among the first matching and the second matching to produce a selected matching.
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Accused Products
Abstract
Determining three-dimensional structure in a road environment using a system mountable in a host vehicle including a camera connectable to a processor. Multiple image frames are captured in the field of view of the camera. In the image frames, a line is selected below which the road is imaged. The line separates between upper images essentially excluding images of the road and lower images essentially including images of the road. One or more of the lower images is warped, according to a road homography to produce at least one warped lower image. The three-dimensional structure may be provided from motion of a matching feature within the upper images or from motion of a matching feature within at least one of the lower images and at least one warped lower image.
67 Citations
18 Claims
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1. A method for determining a three-dimensional structure in an environment, the method performed by a system mountable in a host vehicle, wherein the system includes a camera operatively connectible to a processor, the method comprising:
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capturing a plurality of image frames in a field of view of the camera, wherein the plurality of image frames includes a first image frame and a second image frame; identifying a road of the environment in the first image frame; in the first image frame, selecting a line, wherein the line separates a first portion of the first image frame determined to include the road of the environment and a second portion of the first image frame determined to exclude the road of the environment; selecting a first point in the first portion of the first image frame; matching the first point in the first portion of the first image frame with a second point in the second image frame to produce a first matching; warping the first portion of the first image frame according to a road homography and ego-motion of the host vehicle to produce a warped portion of the image frame, wherein the ego-motion is based on at least one of speed, inertia, and steering angle of the host vehicle; detecting in the warped portion of the first image frame a third point corresponding to the first point; matching the third point in the warped portion of the first image frame with the second point in the second image frame to produce a second matching; and selecting from among the first matching and the second matching to produce a selected matching. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 14, 15, 16)
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10. A system for determining three-dimensional structure in a road environment, the system, mountable in a host vehicle, including a camera operatively connectible to a processor, the processor configured to:
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capture a plurality of image frames in a field of view of the camera, wherein the plurality of image frames includes a first image frame and a second image frame; identify a road of the environment in the first image frame; in the first image frame, select a line, wherein the line separates a first portion of the first image frame determined to include the road of the environment and a second portion of the first image frame determined to exclude the road of the environment; select a first point in the first portion of the first image frame; match the first point in the first portion of the first image frame with data second point in the second image frame to produce a first matching; warp the first portion of the first image frame according to a road homography and ego-motion of the host vehicle to produce a warped portion of the image frame, wherein the ego-motion is based on at least one of speed, inertia, and steering angle of the host vehicle; detect in the warped portion of the first image frame a third point corresponding to the first point; match the third point in the warped portion of the first image frame with the second point in the second image frame to produce a second matching; and select from among the first matching and the second matching to produce a selected matching. - View Dependent Claims (11, 12, 13, 17)
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18. A non-transitory computer-readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by one or more processors of an electronic device, cause the electronic device to:
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receive a previous image of a road environment and a current image of the road environment; identify a road of the road environment in the previous image; identify a first portion of the previous image including the road of the road environment and a second portion of the previous image excluding the road of the road environment; warping the first portion of the previous image according to a homography of the road and ego-motion of a host vehicle to provide a warped portion of the previous image, wherein the ego-motion is based on at least one of speed, inertia, and steering angle of the host vehicle; matching a first point between the first portion of the previous image and a second point of the current image to provide a first matching; matching the first point between the warped portion of the previous image and the first portion of the current image to provide a second matching; and providing a three-dimensional structure based on at least one of the first matching or the second matching.
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Specification