Back to results
US 9,536,174 B2Granted
Fault-aware matched filter and optical flow
AssigneePrioria Robotics, Inc.
InventorWalter Lee Hunt, Jr.
Life of this patent
Estimating the term…
Abstract
In one embodiment, a fault-aware matched filter augments the output of a component matched filter to provide both fault-aware matched filter output and a measure of confidence in the accuracy of the fault-aware matched filter output. In another embodiment, an optical flow engine derives, from a plurality of images, both optical flow output and a measure of confidence in the optical flow output. The measure of confidence may be derived using a fault-aware matched filter.
Claims30
A method performed by at least one computer processor, the method comprising:
- (A) receiving a first image input in an image input sequence;
- (B) receiving a second image input in the image input sequence, wherein the second image input has a relative position subsequent to the first image input in the image input sequence;
- (C) at the at least one computer processor, applying a frame sample filter to the first image input to produce a sample pattern comprising at least one sample;
- (D) at the at least one computer processor, applying a sample registration filter to the second image input and the sample pattern to identify:
- (1) an unfiltered flow sample set comprising at least one optical flow sample, wherein the unfiltered flow sample set defines a coregistration between the first image input and the second image input;
- (2) at least one fault warning representing a degree of confidence in the coregistration;
- (E) at the at least one computer processor, removing, from the unfiltered flow sample set, at least one sample specified by the at least one fault warning as in-fault, to produce a filtered flow sample set;
- and
- (F) at the at least one computer processor, generating optical flow confidence estimate output based on the filtered flow sample set.
6 more elements
A system comprising:
- means for receiving a first image input in an image input sequence;
- means for receiving a second image input in the image input sequence, wherein the second image input has a relative position subsequent to the first image input in the image input sequence;
- a frame sample filter comprising means for producing, based on the first image input, a sample pattern comprising at least one sample;
- a sample registration filter comprising means for identifying, based on the second image input and the sample pattern:
- (1) an unfiltered flow sample set comprising at least one optical flow sample, wherein the unfiltered flow sample set defines a coregistration between the first image input and the second image input;
- (2) at least one fault warning representing a degree of confidence in the coregistration;
- a flow sample fault filter comprising means for removing, from the unfiltered flow sample set, at least one sample specified by the at least one fault warning as in-fault, to produce a filtered flow sample set;
- and
- an optical flow confidence estimate generator to generate optical flow confidence estimate output based on the filtered flow sample set.
6 more elements
A method performed by at least one computer processor, the method comprising:
- (A) receiving a first image input in an image input sequence;
- (B) receiving a second image input in the image input sequence, wherein the second image input has a relative position subsequent to the first image input in the image input sequence;
- (C) at the at least one computer processor, applying a frame sample filter, including a first matched filter, to the first image input to produce a sample pattern comprising at least one sample;
- (D) at the at least one computer processor, applying a sample registration filter, including a second matched filter, to the second image input and the sample pattern to identify:
- (1) an unfiltered flow sample set comprising at least one optical flow sample, wherein the unfiltered flow sample set defines a coregistration between the first image input and the second image input;
- and
- (2) at least one fault warning representing a degree of confidence in the coregistration;
- and
- (E) at the at least one computer processor, removing, from the unfiltered flow sample set, at least one sample specified by the at least one fault warning as in-fault, to produce a filtered flow sample set.
6 more elements
A system comprising:
- means for receiving a first image input in an image input sequence;
- means for receiving a second image input in the image input sequence, wherein the second image input has a relative position subsequent to the first image input in the image input sequence;
- a frame sample filter comprising a first matched filter, the matched filter comprising means for producing, based on the first image input, a sample pattern comprising at least one sample;
- a sample registration filter comprising means for identifying, based on the second image input and the sample pattern:
- (1) an unfiltered flow sample set comprising at least one optical flow sample, wherein the unfiltered flow sample set defines a coregistration between the first image input and the second image input;
- and
- (2) at least one fault warning representing a degree of confidence in the coregistration;
- and
- a flow sample fault filter comprising means for removing, from the unfiltered flow sample set, at least one sample specified by the at least one fault warning as in-fault, to produce a filtered flow sample set.
6 more elements
Dependencies are inferred from the claim text.