Motion estimation in real-time visual odometry system
AssigneeCaterpillar Inc.
InventorsHong CHANG, Paul Russell FRIEND
Life of this patent
Estimating the term…
Abstract
A motion determination system is disclosed. The system may receive a first camera image and a second camera image. The system may receive a first range image corresponding to the first camera image. The system may generate a first range map by fusing the first camera image and the first range image. The system may iteratively process a plurality of first features in the first range map to determine a change in position of the machine. The plurality of second features may correspond to the plurality of first features, and each of the plurality of first and second features is denoted by feature points in an image space of the camera.
Claims20
A motion determination system in a machine, comprising:
- one or more memories storing instructions;
- and
- a controller configured to execute the instructions to perform operations including:
- receiving a first camera image and a second camera image from a camera, wherein the first camera image is received earlier in time than the second camera image,
- receiving, from a range detection unit, a first range image corresponding to the first camera image,
- generating a first range map by fusing the first camera image and the first range image,
- iteratively processing a plurality of first features in the first range map and a plurality of second features in the second camera image to determine a change in position of the machine,
- wherein:
- the plurality of second features correspond to the plurality of first features, and
- each of the first features and second features are denoted by feature points in an image space of the camera.
A computer-implemented method determining motion of a machine, the method comprising:
- receiving a first camera image and a second camera image from a camera, wherein the first camera image is received earlier in time than the second camera image,
- receiving, from a range detection unit, a first range image corresponding to the first camera image,
- generating a first range map by fusing the first camera image and the first range image,
- iteratively processing a plurality of first features in the first range map and a plurality of second features in the second camera image to determine a change in position of the machine,
- wherein:
- the plurality of second features correspond to the plurality of first features, and
- each of the first features and second features are denoted by feature points in an image space of the camera.
A machine comprising:
- a range detection unit;
- a camera;
- and
- a controller configured to execute instructions to perform operations including:
- receiving a first camera image and a second camera image from the camera, wherein the first camera image is received earlier in time than the second camera image,
- receiving, from the range detection unit, a first range image corresponding to the first camera image,
- generating a first range map by fusing the first camera image and the first range image,
- iteratively processing a plurality of first features in the first range map and a plurality of second features in the second camera image to determine a change in position of the machine,
- wherein:
- the plurality of second features correspond to the plurality of first features, and each of the first features and second features are denoted by feature points in an image space of the camera.
Dependencies are inferred from the claim text.