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Dense structure from motion

  • US 10,685,424 B2
  • Filed: 04/19/2018
  • Issued: 06/16/2020
  • Est. Priority Date: 09/21/2010
  • Status: Active Grant
First Claim
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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:

  • 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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