US 11,082,633 B2Granted

Method of estimating the speed of displacement of a camera

AssigneePixmap

InventorsAndrew Comport, Maxime Meilland

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Abstract

A method for estimating the speed of movement of a first video camera when it captures a current image of a three-dimensional scene, includes storing a reference image corresponding to an image of the same scene captured by a second video camera in a different pose, the reference image including pixels. The method also includes storing the current image, the current image including pixels containing the measurement of a physical quantity measured by that pixel, that physical quantity being the same as the physical quantity measured by the pixels of the reference image. The method further includes storing for each pixel of the reference image or of the current image the measurement of a depth that separates that pixel from the point of the scene photographed by that pixel, estimating the pose of the first camera, and estimating the speed of movement of the first camera.

Claims20

Dependent claims

A method comprising:

performing, by a video camera:
capturing a current image of a scene, wherein at least some pixels of the current image are captured in different moments;
obtaining a reference image of the scene corresponding to the current image,
wherein all pixels of the reference image are captured in a single moment;
estimating a pose of the video camera;
estimating a speed of the video camera, wherein the estimation of the speed comprises:
selecting a first set of points in a plane of the current image that correspond to a set of respective reference points in a reference plane of the reference image;
determining respective shutter time lags for individual points of the first set based at least in part on respective pixel locations of the individual points;
determining an assumed speed of the video camera;
generating a second set of points in the plane corresponding to the individual points in the first set, wherein coordinates of individual points in the second set are obtained by transforming respective points in the first set to reverse a location change of the respective points in the first set caused by their respective shutter time lags at the assumed speed of the video camera;
generating, for each individual point in the second set, an estimated magnitude value the individual point based at least in part on an average of magnitude values of adjacent points of the individual point in the plane of the current image;
determining respective differences between the estimated magnitude values of individual points in the second set with magnitude values of corresponding reference points in the reference image;
and
determining that the assumed speed is a sufficient estimation of the speed of the video camera based at least in part on the respective differences.

11 more elements

A system, comprising:

a video camera including one or more processors and associated memory, configured to:
capture a current image of a scene, wherein at least some pixels of the current image are captured in different moments;
obtain a reference image of the scene corresponding to the current image,
wherein all pixels of the reference image are captured in a single moment;
estimate a pose of the video camera;
estimate a speed of the video camera, wherein to perform the estimation of the speed, the video camera is configured to:
select a first set of points in a plane of the current image that correspond to a set of respective reference points in a reference plane of the reference image;
determine respective shutter time lags for individual points of the first set based at least in part on respective pixel locations of the individual points;
determine an assumed speed of the video camera;
generate a second set of points in the plane corresponding to the individual points in the first set, wherein coordinates of individual points in the second set are obtained by transforming respective points in the first set to reverse a location change of the respective points in the first set caused by their respective shutter time lags at the assumed speed of the video camera;
generate, for each individual point in the second set, an estimated magnitude value the individual point based at least in part on an average of magnitude values of adjacent points of the individual point in the plane of the current image;
determine respective differences between the estimated magnitude values of individual points in the second set with magnitude values of corresponding reference points in the reference image;
and
determine that the assumed speed is a sufficient estimation of the speed of the video camera based at least in part on the respective differences.

11 more elements

A non-transitory computer readable medium having stored thereon instructions executable by a video camera that when executed causes the video camera to:

capture a current image of a scene, wherein at least some pixels of the current image are captured in different moments;
obtain a reference image of the scene corresponding to the current image, wherein all pixels of the reference image are captured in a single moment;
estimate a pose of the video camera;
estimate a speed of the video camera, wherein to perform the estimation of the speed, the video camera is configured to:
select a first set of points in a plane of the current image that correspond to a set of respective reference points in a reference plane of the reference image;
determine respective shutter time lags for individual points of the first set based at least in part on respective pixel locations of the individual points;
determine an assumed speed of the video camera;
generate a second set of points in the plane corresponding to the individual points in the first set, wherein coordinates of individual points in the second set are obtained by transforming respective points in the first set to reverse a location change of the respective points in the first set caused by their respective shutter time lags at the assumed speed of the video camera;
generate, for each individual point in the second set, an estimated magnitude value the individual point based at least in part on an average of magnitude values of adjacent points of the individual point in the plane of the current image;
determine respective differences between the estimated magnitude values of individual points in the second set with magnitude values of corresponding reference points in the reference image;
and
determine that the assumed speed is a sufficient estimation of the speed of the video camera based at least in part on the respective differences.

9 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/269,540Filed 6 Feb 2019 · continuation
Priority: FR 136130618 Nov 2013
Published: US 2019/0182433 A113 Jun 2019
Granted: 3 Aug 2021
Term ends: Not estimatedThe source records don’t support an estimate.

Classification7 codes

H04N 23/90
Cameras or camera modules comprising electronic image sensors; Control thereof: arrangement of cameras or camera modules, e.g. multiple cameras in…
G06T 7/248
Using feature-based methods, e.g. the tracking of corners or segments: involving reference images or patches
G06T 7/74
Using feature-based methods: involving reference images or patches
G06T 2207/30241
Subject of image; Context of image processing: trajectory

Family

PCT/EP2014/074764Parent of this continuation · filed 17 Nov 2014
US 2019/0182433 A1Pre-grant publication · published 13 Jun 2019
Application15/037,625Parent of this continuation
US 2016/0292883 A1Published application
US 11,082,633 B2This patent

From the US filing history. Foreign family members aren’t listed.