Invention Grant
US08422741B2 Estimating objects proper motion using optical flow, kinematics and depth information
有权
使用光流，运动学和深度信息估计物体的正确运动
- Patent Title: Estimating objects proper motion using optical flow, kinematics and depth information
- Patent Title (中): 使用光流，运动学和深度信息估计物体的正确运动
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Application No.: US12599201Application Date: 2008-08-21
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Publication No.: US08422741B2Publication Date: 2013-04-16
- Inventor: Julian Eggert , Sven Rebhan , Jens Schmudderich , Volker Willert
- Applicant: Julian Eggert , Sven Rebhan , Jens Schmudderich , Volker Willert
- Applicant Address: DE Offenbach
- Assignee: Honda Research Institute Europe GmbH
- Current Assignee: Honda Research Institute Europe GmbH
- Current Assignee Address: DE Offenbach
- Agency: Squire, Sanders (US) LLP
- Priority: EP07114793 20070822
- International Application: PCT/EP2008/006896 WO 20080821
- International Announcement: WO2009/024349 WO 20090226
- Main IPC: G06K9/00
- IPC: G06K9/00
Abstract:
The invention relates to a method for detecting the proper motion of an real-world object, comprising the steps of acquiring, by an image capturing device (ICD), a first image (I1) of the object at a first point in time (t1) and a second image (I2) at a second point in time (t2); obtaining a third (hypothetical) image (I3), based on an estimated effect of the motion of the image capturing device (ICD) itself (EMF) between the first and the second point in time (t1, t2), wherein the effect of the motion of the image capturing device (ICD) itself is estimated based on the forward kinematics of the image capturing device; determining an optical flow (OF) between the second image (I2) and the third image (I3); and evaluating the optical flow (OF) by incorporating uncertainties of the optical flow (OF) and the ego-motion-flow (EMF) in order to determine the proper motion of the object.
Public/Granted literature
- US20110243390A1 ESTIMATING OBJECTS PROPER MOTION USING OPTICAL FLOW, KINEMATICS AND DEPTH INFORMATION Public/Granted day:2011-10-06
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