METHOD FOR ESTIMATING THE MOVEMENT OF AN OBJECT

摘要

The present invention relates to a method for estimating the movement of an object (3) moving about an environment (∑), the method being characterised in that it includes the steps of: (a) acquiring, by optical acquisition means (2) secured to the object (3), at least two consecutive depth images of the environment (∑); (b) selecting, by data-processing means (11) of a device (1), at least one sub-portion (Ωi) of the two depth images; (c) for each selected sub-portion (Ωi) of the two depth images, calculating by means of the data-processing means (11) on the basis of the depth values of the pixels in the sub-portion (Ωi): a first parameter (γi) representing a difference between the two depth images of a volume associated with a solid angle defined by a contour (∂Ωi) of the sub-portion (Ωi); a second parameter (αi) representing a volume vector quantity along said contour (∂Ωi); and a third parameter (βi) representing a surface vector quantity that results from said contour (∂Ωi); and (d) estimating, by the data-processing means (11), at least one component of the movement of said object (3) on the basis of the first, second and third parameters (αi, βi, γi) associated with each sub-portion (Ωi).