Method and Apparatus for Dynamic Estimation of Feature Depth Using Calibrated Moving Camera
OwnerKhalid El Rifaiinventor
Life of this patent
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Abstract
A method apparatus estimates depths of features observed in a sequence of images acquired of a scene by a moving camera by first estimating coordinates of the features and generating a sequence of perspective feature image. A set of differential equations are applied to the sequence of perspective feature images to form a reduced order dynamic state estimator for the depths using only a vector of linear and angular velocities of the camera and the focal length of the camera. The camera can be mounted on a robot manipulator end effector. The velocity of the camera is determined by robot joint encoder measurements and known robot kinematics.
Claims10
A method for estimating depths of features observed in a sequence of images acquired of a scene, comprising a processor for performing steps of the method, comprising the steps:
- estimating coordinates of the features in the sequence of images I(t), wherein the sequence of images is acquired by a camera moving at a known velocity u(t) with respect to the scene;
- generating a sequence of perspective feature image y(t) from the features;
- and
- applying a set of differential equations to the sequence of perspective feature image y(t) to form a reduced order dynamic state estimator for the depths of the features using only a velocity vector u(t)=(u1, u2, u3, u4, u5, u6) of linear and angular velocities of the camera, and a camera focal length λ.
A processor for estimating depths of features observed in a sequence of images acquired of a scene, comprising:
- means for estimating coordinates of the features in a sequence of perspective images y(t) I(t) generated from a input images I(t) acquired by a camera moving at a known velocity u(t);
- and
- means for applying a set of differential equations to the sequence of perspective image y(t) to form a reduced order dynamic state estimator for the depths of the features using a velocity vector u(t)=(u1, u2, u3, u4, u5, u6) of linear and angular velocities of the camera, and a camera focal length λ.
Dependencies are inferred from the claim text.