Voting strategy for visual ego-motion from stereo
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United States of America Patent
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Jun 3, 2014
Grant Date -
Dec 6, 2012
app pub date -
May 31, 2011
filing date -
May 31, 2011
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Abstract
Methods and systems for egomotion estimation (e.g. of a vehicle) from visual inputs of a stereo pair of video cameras are described. 3D egomotion estimation is a six degrees of freedom problem in general. In embodiments of the present invention, this is simplified to four dimensions and further decomposed to two two-dimensional sub-solutions. The decomposition allows use of a voting strategy that identifies the most probable solution. An input is a set of image correspondences between two temporally consecutive stereo pairs, i.e. feature points do not need to be tracked over time. The experiments show that even if a trajectory is put together as a simple concatenation of frame-to-frame increments, the results are reliable and precise.
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