Method and apparatus for movement estimation

• US 9,196,040 B2
• Filed: 03/12/2013
• Issued: 11/24/2015
• Est. Priority Date: 03/12/2013
• Status: Expired due to Fees

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Gantman, Alex
• Primary Examiner(s): Johns, Andrew W
• Application Number:
  US13/797,056
• Publication Number:
  US 20140270345A1
• Time in Patent Office: 987 Days
• US Class Current: 1/1
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

A method for estimating movement of a mobile device includes: obtaining images from a camera communicatively coupled to a processor of the mobile device; identifying a stationary light source using at least one image of the images; calculating a displacement of the stationary light source based on a first location of the stationary light source in a first image of the images and a second location of the stationary light source in a second image of the images, the first image and the second image being captured at different times; and estimating movement of the mobile device based on the displacement.

Claims

1. A method for estimating movement of a mobile device, the method comprising:

obtaining a plurality of images from a camera communicatively coupled to a processor of the mobile device;

identifying a stationary light source using at least one image of the plurality of images;

calculating a displacement of the stationary light source based on a first location of the stationary light source in a first image of the plurality of images and a second location of the stationary light source in a second image of the plurality of images, the first image and the second image being captured at different times; and

estimating movement of the mobile device based on the displacement.

2. The method of claim 1 wherein identifying the stationary light source comprises distinguishing the stationary light source from a movable light source.

3. The method of claim 1 wherein the identifying comprises:

identifying a first region in the first image of the plurality of images indicative of the stationary light source and a second region in a fourth image of the plurality of images indicative of the stationary light source; and

analyzing first and second intensities of light associated with the stationary light source in the first and second regions, respectively, to classify the stationary light source.

4. The method of claim 3 further comprising classifying the stationary light source as a stationary light source in response to the first and second intensities of light being of magnitudes indicative of the stationary light source being powered by an alternating-current power source.

5. The method of claim 1 wherein the obtaining comprises capturing the plurality of images via a forward-facing, relative to the movement of the mobile device, camera of the mobile device.

6. The method of claim 1 wherein the obtaining comprises capturing the plurality of images via a backward-facing, relative to the movement of the mobile device, camera of the mobile device.

7. The method of claim 1 wherein the estimating comprises estimating the movement of the mobile device as a function of the displacement and an image capture rate at which the plurality of images is captured.

8. The method of claim 1 further comprising determining a position of the mobile device based on an estimated movement of the mobile device.

9. The method of claim 1 further comprising evaluating receipt of wireless signals for determining a position of the mobile device, wherein at least one of the capturing, identifying, calculating, or estimating is only performed in response to insufficient wireless signals being received for determining the position of the mobile device.

10. The method of claim 9 wherein the wireless signals comprise at least one of satellite positioning system signals or cell-based communication system signals.

11. The method of claim 1 wherein the estimating comprises estimating the movement of the mobile device as a motion vector comprising a speed component and a direction component.

12. An apparatus comprising:

means for obtaining a plurality of images;

means for identifying a stationary light source using at least one image of the plurality of images; and

means for estimating movement including;

means for calculating a displacement of the stationary light source based on a first location of the stationary light source in a first image of the plurality of images and a second location of the stationary light source in a second image of the plurality of images, the first image and the second image being associated with different times; and

means for estimating movement of a mobile device based on the displacement.

13. The apparatus of claim 12 wherein the means for identifying the stationary light source comprise means for distinguishing the stationary light source from a movable light source.

14. The apparatus of claim 12 wherein the means for identifying comprise:

means for identifying a first region in the first image of the plurality of images indicative of the stationary light source and a second region in a fourth image of the plurality of images indicative of the stationary light source; and

means for analyzing first and second intensities of light associated with the stationary light source in the first and second regions, respectively, to classify the stationary light source.

15. The apparatus of claim 14 wherein the means for identifying comprise means for classifying the stationary light source as a stationary light source in response to the first and second intensities of light being of magnitudes indicative of the stationary light source being powered by an alternating-current power source.

16. The apparatus of claim 12 wherein the means for estimating movement of the mobile device comprise means for estimating the movement of the mobile device as a function of the displacement and an image capture rate at which the plurality of images is captured.

17. The apparatus of claim 12 further comprising means for determining a position of the mobile device based on an estimated movement of the mobile device.

18. The apparatus of claim 12 further comprising evaluating means for evaluating receipt of wireless signals for determining a position of the mobile device, wherein at least one of the means for identifying, means for calculating, or means for estimating movement of the mobile device are communicatively coupled to the evaluating means and, to perform a respective function, are responsive to insufficient wireless signals being received for determining the position of the mobile device.

19. The apparatus of claim 12 wherein the means for estimating movement of the mobile device are for estimating the movement of the mobile device as a motion vector comprising a speed component and a direction component.

20. A mobile device comprising:

a memory storing instructions; and

a processor communicatively coupled to the memory and configured to execute the instructions to;

identify a stationary light source using at least one image of a plurality of images;

calculate a displacement of the stationary light source based on a first location of the stationary light source in a first image of the plurality of images and a second location of the stationary light source in a second image of the plurality of images, the first image and the second image being associated with different times; and

estimate movement of the mobile device based on the displacement.

21. The mobile device of claim 20 wherein the processor is further configured to execute the instructions to:

identify a first region in the first image of the plurality of images indicative of the stationary light source and a second region in a fourth image of the plurality of images indicative of the stationary light source; and

analyze first and second intensities of light associated with the stationary light source in the first and second regions, respectively, to classify the stationary light source.

22. The mobile device of claim 21 wherein the processor is further configured to execute the instructions to classify the stationary light source as a stationary light source in response to the first and second intensities of light being of magnitudes indicative of the stationary light source being powered by an alternating-current power source.

23. The mobile device of claim 20 further comprising a camera configured to capture the plurality of images and communicatively coupled to the processor.

24. The mobile device of claim 20 wherein the processor is further configured to execute the instructions to estimate the movement of the mobile device as a function of the displacement and a difference in time between capture of the first image and capture of the second image.

25. The mobile device of claim 20 wherein the processor is further configured to execute the instructions to determine a position of the mobile device based on an estimated movement of the mobile device.

26. The mobile device of claim 20 wherein the processor is further configured to execute the instructions to determine a position of the mobile device using wireless signals, and to identify the stationary light source or calculate the displacement or estimate the movement in response to insufficient wireless signals being received for determining the position of the mobile device.

27. The mobile device of claim 20 wherein the processor is further configured to estimate the movement of the mobile device as a motion vector comprising a speed component and a direction component.

28. An apparatus comprising:

a memory; and

a processor communicatively coupled to the memory and configured to;

identify a stationary light source using at least one image of a plurality of images;

calculate a displacement of the stationary light source based on a first location of the stationary light source in a first image of the plurality of images and a second location of the stationary light source in a second image of the plurality of images, the first image and the second image being associated with different times; and

estimate movement of the apparatus based on the displacement.

29. The apparatus of claim 28 wherein the processor is further configured to:

identify a first region in the first image of the plurality of images indicative of the stationary light source and a second region in a fourth image of the plurality of images indicative of the stationary light source; and

analyze first and second intensities of light associated with the stationary light source in the first and second regions, respectively, to classify the stationary light source.

30. The apparatus of claim 29 wherein the processor is further configured to classify the stationary light source as a stationary light source in response to the first and second intensities of light being of magnitudes indicative of the stationary light source being powered by an alternating-current power source.

31. The apparatus of claim 28 wherein the processor is configured to estimate the movement of the apparatus as a function of the displacement and a difference in time between capture of the first image and capture of the second image.

32. The apparatus of claim 28 wherein the processor is further configured to determine a position of the apparatus based on an estimated movement of the apparatus.

33. A non-transitory processor-readable storage medium comprising processor-readable instructions configured to cause a processor to:

obtain a plurality of images;

identify a stationary light source using at least one image of the plurality of images;

calculate a displacement of the stationary light source based on a first location of the stationary light source in a first image of the plurality of images and a second location of the stationary light source in a second image of the plurality of images, the first image and the second image being associated with different times; and

estimate movement of a mobile device based on the displacement.

34. The non-transitory processor-readable storage medium of claim 33 wherein the instructions configured to cause the processor to identify the stationary light source comprise instructions configured to cause the processor to:

identify a first region in the first image of the plurality of images indicative of the stationary light source and a second region in a fourth image of the plurality of images indicative of the stationary light source; and

analyze first and second intensities of light associated with the stationary light source in the first and second regions, respectively, to classify the stationary light source.

35. The non-transitory processor-readable storage medium of claim 34 further comprising instructions configured to cause the processor to classify the stationary light source as a stationary light source in response to the first and second intensities of light being of magnitudes indicative of the stationary light source being powered by an alternating-current power source.

36. The non-transitory processor-readable storage medium of claim 35 wherein the instructions configured to cause the processor to classify the stationary light source comprise instructions configured to cause the processor to classify the stationary light source as a stationary light source in response to the magnitudes differing by at least a threshold value.

37. The non-transitory processor-readable storage medium of claim 33 further comprising instructions configured to cause the processor to determine a position of the mobile device based on the estimated movement of the mobile device.

38. The non-transitory processor-readable storage medium of claim 33 wherein the instructions configured to cause the processor to estimate the movement of the mobile device comprise instructions configured to cause the processor to estimate the movement of the mobile device as a motion vector comprising a speed component and a direction component.