×

Egomotion estimation of an imaging device

  • US 9,189,850 B1
  • Filed: 01/29/2013
  • Issued: 11/17/2015
  • Est. Priority Date: 01/29/2013
  • Status: Active Grant
First Claim
Patent Images

1. A computer-implemented method comprising:

  • under control of one or more processors configured with executable instructions,creating, using information captured by a camera, depth maps of an environment, the depth maps including a first depth map at a first time and second depth map at a second time, the environment including objects;

    detecting planar surfaces of stationary objects in the first depth map and the second depth map using a random sampling and consensus algorithm, the stationary objects being a subset of the objects in the environment;

    associating at least a first planar surface from the first depth map to a second planar surface in the second depth map, the first planar surface being identified as corresponding to the second planar surface based at least in part on an estimated translation and rotation of the camera between the first time and the second time; and

    determining actual translation and rotation of the camera between the first time and the second time using iterative closest point analysis of locations of corresponding points that are located on the first planar surface and the second planar surface.

View all claims
  • 2 Assignments
Timeline View
Assignment View
    ×
    ×