SYSTEM AND METHOD FOR ESTIMATING VEHICLE DYNAMICS USING FEATURE POINTS IN IMAGES FROM MULTIPLE CAMERAS

摘要

A system and method for estimating dynamics of a mobile platform by matching feature points in overlapping images from cameras on the platform, such as cameras in a surround-view camera system on a vehicle. The method includes identifying overlap image areas for any two cameras in the surround-view camera system, identifying common feature points in the overlap image areas, and determining that the common feature points in the overlap image areas are not at the same location. The method also includes estimating three-degree of freedom vehicle dynamic parameters from the matching between the common feature points, and estimating vehicle dynamics of one or more of pitch, roll and height variation using the vehicle dynamic parameters.

主权项

1. A method for estimating vehicle dynamics using images from cameras in a surround-view camera system on a vehicle, said method comprising:
identifying one or more overlap image areas for any two cameras in the surround-view camera system; identifying common feature points in the one or more overlap image areas; determining that the identified common feature points in the overlap image areas are not at the same location in the overlap image area; estimating three-degree of freedom vehicle dynamic parameters from the matching between the common feature points; and estimating vehicle dynamics of one or more of pitch, roll and height variation using the vehicle dynamic parameters.