Unified framework for precise vision-aided navigation

摘要

A system and method for efficiently locating in 3D an object of interest in a target scene using video information captured by a plurality of cameras. The system and method provide for multi-camera visual odometry wherein pose estimates are generated for each camera by all of the cameras in the multi-camera configuration. Furthermore, the system and method can locate and identify salient landmarks in the target scene using any of the cameras in the multi-camera configuration and compare the identified landmark against a database of previously identified landmarks. In addition, the system and method provide for the integration of video-based pose estimations with position measurement data captured by one or more secondary measurement sensors, such as, for example, Inertial Measurement Units (IMUs) and Global Positioning System (GPS) units.

主权项

1. A computer implemented landmark recognition method comprising:
capturing a plurality of images where the plurality of images comprises a view of one or more landmarks obtained by each of a plurality of cameras, where each camera in the plurality of cameras has different position measurement data comprising location, depth and pose as compared to position measurement data of each other camera; computing a landmark snapshot for each landmark of the one or more landmarks in the plurality of images, the landmark snapshot comprising a scale identifier for the landmark combined with a spatial configuration for the landmark, wherein the scale identifier comprises a histogram of oriented gradients (HOG) descriptor; and comparing between the landmark snapshot for each of the one or more landmarks in the plurality of images to identify corresponding landmarks in the plurality of images.