Movable body circumstance monitoring apparatus
First Claim
1. A movable body circumstance monitoring apparatus comprising:
- at least one means for capturing an image of a surrounding of a movable body depending upon movement of the movable body;
means for deriving at least four feature points in a specified flat at the image captured by the at least one means for capturing the image;
means for tracking the at least four feature points in response to movement of the movable body from a first state to a second state; and
means for specifying moving condition such as relative position and posture of the at least one means for capturing the image at the first and second states in response to first flat coordinates of the feature points at the image captured at the first state and second flat coordinates of the feature points at the image at the second state based upon a tracking result by the means for tracking the at least four feature points.
1 Assignment
0 Petitions
Accused Products
Abstract
A movable body circumstance monitoring apparatus includes at least one means for capturing an image of a surrounding of a movable body depending upon movement of the movable body, means for deriving at least four feature points in a specified flat at the image, means for tracking the feature points in response to movement of the movable body from a first state to a second state, and means for specifying relative position and posture of the means for capturing the image at the first and second states in response to first flat coordinates of the feature points at the first state and second flat coordinates of the feature points at the second state based upon a tracking result.
73 Citations
14 Claims
-
1. A movable body circumstance monitoring apparatus comprising:
-
at least one means for capturing an image of a surrounding of a movable body depending upon movement of the movable body;
means for deriving at least four feature points in a specified flat at the image captured by the at least one means for capturing the image;
means for tracking the at least four feature points in response to movement of the movable body from a first state to a second state; and
means for specifying moving condition such as relative position and posture of the at least one means for capturing the image at the first and second states in response to first flat coordinates of the feature points at the image captured at the first state and second flat coordinates of the feature points at the image at the second state based upon a tracking result by the means for tracking the at least four feature points. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. A movable body circumstance monitoring apparatus comprising:
-
at least one camera mounted at a movable body and configured to capture an image of a surrounding of a movable body depending upon movement of the movable body; and
an electronic control unit supplied with information of the image captured by the at least one camera, wherein position of the posture of the movable body can be specified. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
-
Specification