发明名称 |
Real-time monocular visual odometry |
摘要 |
Systems and methods are disclosed for multithreaded visual odometry by acquired with a single camera on-board a vehicle; using 2D-3D correspondences for continuous pose estimation; and combining the pose estimation with 2D-2D epipolar search to replenish 3D points. |
申请公布号 |
US9148650(B2) |
申请公布日期 |
2015.09.29 |
申请号 |
US201313858040 |
申请日期 |
2013.04.06 |
申请人 |
NEC Laboratories America, Inc. |
发明人 |
Chandraker Manmohan;Song Shiyu |
分类号 |
H04N13/02;G06K9/00;G06T7/00 |
主分类号 |
H04N13/02 |
代理机构 |
|
代理人 |
Kolodka Joseph |
主权项 |
1. A method for multithreaded visual odometry, comprising acquiring images with a single camera on-board a vehicle;
using 2D-3D correspondences for continuous pose estimation with a pose local bundle adjustment (LBA) system including a feature matching engine using three or more parallel CPU threads with pose estimation across all threads, followed by local bundle adjustment in the primary thread; using a local bundle cache including a frame cache and a match cache, wherein the frame cache stores feature locations, descriptors and camera poses from most recent frames and images, wherein the match cache comprises a list of tables, one element corresponding to each frame with a key into the table being an identity of a 3D point visible in the frame and stored entries are identities of corresponding 2D features in the frames; combining the pose estimation with 2D-2D epipolar search to replenish 3D points; and generating structure-from-motion (SFM). |
地址 |
Princeton NJ US |