Egomotion estimation system and method
First Claim
1. A computer-implemented method for determining an egomotion parameter using an egomotion estimation system comprising:
- obtaining a first image frame and a second image frame;
selecting a first portion of the first image frame to obtain a first sub-image that is formed from the first image frame, and selecting a second portion of the second image frame to obtain a second sub-image that is formed from the second image frame;
performing a transformation on the first sub-image and the second sub-image to respectively obtain a first perspective image and a second perspective image;
iteratively adjusting the second perspective image to obtain a plurality of adjusted perspective images;
determining a plurality of difference values respectively corresponding to a respective difference between the first perspective image and the plurality of adjusted perspective images; and
determining a translation vector for an egomotion parameter, wherein the translation vector corresponds to one of the difference values in the plurality of difference values.
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Abstract
A computer-implemented method for determining an egomotion parameter using an egomotion estimation system is provided. First and second image frames are obtained. A first portion of the first image frame and a second portion of the second image frame are selected to respectively obtain a first sub-image and a second sub-image. A transformation is performed on each of the first sub-image and the second sub-image to respectively obtain a first perspective image and a second perspective image. The second perspective image is iteratively adjusted to obtain multiple adjusted perspective images. Multiple difference values are determined that respectively correspond to the respective difference between the first perspective image and the adjusted perspective images. A translation vector for an ego motion parameter is determined. The translation vector corresponds to one of the multiple difference values.
10 Citations
22 Claims
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1. A computer-implemented method for determining an egomotion parameter using an egomotion estimation system comprising:
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obtaining a first image frame and a second image frame; selecting a first portion of the first image frame to obtain a first sub-image that is formed from the first image frame, and selecting a second portion of the second image frame to obtain a second sub-image that is formed from the second image frame; performing a transformation on the first sub-image and the second sub-image to respectively obtain a first perspective image and a second perspective image; iteratively adjusting the second perspective image to obtain a plurality of adjusted perspective images; determining a plurality of difference values respectively corresponding to a respective difference between the first perspective image and the plurality of adjusted perspective images; and determining a translation vector for an egomotion parameter, wherein the translation vector corresponds to one of the difference values in the plurality of difference values. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for determining an egomotion parameter comprising:
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an image processing module that receives a first image frame and a second image frame; an image segmentation module that divides each of the first image frame and the second image frame into a plurality of portions, selects a first portion of the first image frame to obtain a first sub-image, and selects a second portion of the second image frame to obtain a second sub-image; an image transformation module that performs a respective transformation on the first sub-image and the second sub-image to respectively obtain a first perspective image and a second perspective image; a motion compensation module that adjusts the second perspective image to obtain an adjusted perspective image; an image difference module that determines a difference value corresponding to a difference between the first perspective image and the adjusted image; and an egomotion parameter determination module that iteratively obtains a plurality of difference values respectively corresponding to a respective difference between the first perspective image and a plurality of adjusted perspective images and determines a translation vector for an egomotion parameter, wherein the translation vector corresponds to one of the difference values in the plurality of difference values. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification