Ego motion estimation method and apparatus
AssigneesSamsung Electronics Co., Ltd., Snu R&Db Foundation
InventorsWonhee LEE, Sangil LEE, Hyoun Jin KIM, SungHoon HONG
Life of this patent
Estimating the term…
Abstract
Disclosed is an ego motion estimation method and apparatus, wherein the apparatus calculates a scene flow field from a plurality of spaces of an input image, clusters the plurality of spaces based on a scene flow, updates a probability vector map for clustered spaces, identifies a stationary background based on the updated probability vector map, and estimates ego motion information based on the identified stationary background.
Claims23
An ego motion estimation method comprising:
- generating, for an input image segmented into spaces, a scene flow field indicating a scene flow for each of the spaces;
- clustering the spaces into groups based on the scene flow field;
- generating a probability vector map for a label of the spaces based on the groups;
- and
- estimating ego motion information of an apparatus based on the probability vector map.
An ego motion estimation apparatus comprising:
- an image sensor configured to acquire an input image;
- and
- a processor configured to generate, for an input image segmented into spaces, a scene flow field indicating a scene flow for each of the spaces, cluster the spaces into groups based on the scene flow field, generate a probability vector map for a label of the spaces based on the groups, and estimate ego motion information of an apparatus based on the probability vector map.
An ego motion estimation method comprising:
- generating, for an input image segmented into spaces, a scene flow field indicating a scene flow for each of the spaces;
- clustering the spaces into groups based on a difference between scene flows of spaces in a group being less than a threshold;
- generating a probability vector map for a label of the spaces based on the groups;
- identifying a stationary background based on the probability vector map;
- and
- estimating ego motion information of an apparatus based on the stationary background.
Dependencies are inferred from the claim text.