Estimation of panoramic camera orientation relative to a vehicle coordinate frame
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United States of America Patent
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Apr 15, 2014
Grant Date -
Sep 2, 2010
app pub date -
Feb 18, 2010
filing date -
Feb 20, 2009
priority date (Note) -
In Force
status (Latency Note)
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Abstract
A system and method are presented for estimating the orientation of a panoramic camera mounted on a vehicle relative to the vehicle coordinate frame. An initial pose estimate of the vehicle is determined based on global positioning system data, inertial measurement unit data, and wheel odometry data of the vehicle. Image data from images captured by the camera is processed to obtain one or more tracks, each track including a sequence of matched feature points stemming from a same three-dimensional location. A correction parameter determined from the initial pose estimate and tracks can then be used to correct the orientations of the images captured by the camera. The correction parameter can be optimized by deriving a correction parameter for each of a multitude of distinct subsequences of one or more runs. Statistical analysis can be performed on the determined correction parameters to produce robust estimates.
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