Real-time visual odometry system for determining motion of a machine with a range detection unit

摘要

A motion determination system is disclosed. The system may receive a first camera image and a second camera image. The system may receive a first range image corresponding to the first camera image. The system may generate a first range map by fusing the first camera image and the first range image. The system may iteratively process a plurality of first features in the first range map to determine a change in position of the machine. The plurality of second features may correspond to the plurality of first features, and each of the plurality of first and second features is denoted by feature points in an image space of the camera.

主权项

1. A motion determination system in a machine, comprising:
one or more memories storing instructions; a camera mounted on the machine; a range detection unit mounted on the machine; and a controller configured to execute the instructions to perform operations including
receiving a first camera image and a second camera image from the camera, wherein the first camera image is received earlier in time than the second camera image,receiving, from the range detection unit, a first range image corresponding to the first camera image,generating a first range map by fusing the first camera image and the first range image, anditeratively processing a plurality of first features in the first range map and a plurality of second features in the second camera image to determine a change in position of the machine, wherein the change in position of the machine includes a rotation of the machine and a translation of the machine, and determining the rotation of the machine is based at least in part on the first range map, the plurality of second features correspond to the plurality of first features, and each feature of the plurality of first features and each feature of the plurality of second features are denoted by feature points in an image space of the camera.