Invention Grant
US09280832B2 Methods, systems, and computer readable media for visual odometry using rigid structures identified by antipodal transform
有权
用于通过对映体变换识别的刚性结构的视觉测距的方法，系统和计算机可读介质
- Patent Title: Methods, systems, and computer readable media for visual odometry using rigid structures identified by antipodal transform
- Patent Title (中): 用于通过对映体变换识别的刚性结构的视觉测距的方法，系统和计算机可读介质
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Application No.: US14707632Application Date: 2015-05-08
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Publication No.: US09280832B2Publication Date: 2016-03-08
- Inventor: Jonas Cleveland , Kostas Daniilidis
- Applicant: The Trustees of the University of Pennsylvania
- Applicant Address: US PA Philadelphia
- Assignee: The Trustees of the University of Pennsylvania
- Current Assignee: The Trustees of the University of Pennsylvania
- Current Assignee Address: US PA Philadelphia
- Agency: Jenkins, Wilson, Taylor & Hunt, P.A.
- Main IPC: G06T7/20
- IPC: G06T7/20 ; G06T7/00 ; H04N5/225 ; G06K9/00
Abstract:
The subject matter described herein includes methods for visual odometry using rigid structures identified by an antipodal transform. One exemplary method includes receiving a sequence of images captured by a camera. The method further includes identifying rigid structures in the images using an antipodal transform. The method further includes identifying correspondence between rigid structures in different image frames. The method further includes estimating motion of the camera based on motion of corresponding rigid structures among the different image frames.
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