Title:
A METHOD OF ESTIMATING A MOTION OF A MULTIPLE CAMERA SYSTEM, A MULTIPLE CAMERA SYSTEM AND A COMPUTER PROGRAM PRODUCT
Document Type and Number:
WIPO Patent Application WO/2009/104965
Kind Code:
A3
Abstract:
The invention relates to a method of estimating a motion of a multiple camera system in a 3Dspace, wherein the field of view of multiple cameras at least partially coincide. The method comprises the step of calculating a multiple number of initial motion estimates for a motion of the multiple camera system between the time instant associated with a particular image set and a time instant of a subsequent image set, based on 3D position differences of image features in images of the particular set and the subsequent set, captured by aspecific camera. The method further comprises the steps of characterizing the motion by motion parameters represented in the group of rigid-body motion in 3D, and determining an optimal set of motion parameters in the group of rigid-body motion in 3D.
Inventors:
DUBBELMAN GIJS (NL)
VAN DER MARK WANNES (NL)
VAN DER MARK WANNES (NL)
Application Number:
PCT/NL2009/050077
Publication Date:
July 01, 2010
Filing Date:
February 20, 2009
Export Citation:
Assignee:
TNO (NL)
DUBBELMAN GIJS (NL)
VAN DER MARK WANNES (NL)
DUBBELMAN GIJS (NL)
VAN DER MARK WANNES (NL)
International Classes:
G06T7/20
Other References:
GARCIA R G ET AL: "2D Visual Odometry method for Global Positioning Measurement", INTELLIGENT SIGNAL PROCESSING, 2007. WISP 2007. IEEE INTERNATIONAL SYMPOSIUM ON, IEEE, PISCATAWAY, NJ, USA, 3 October 2007 (2007-10-03), pages 1 - 6, XP031339139, ISBN: 978-1-4244-0829-0
NISTER D ET AL: "Visual odometry", COMPUTER VISION AND PATTERN RECOGNITION, 2004. CVPR 2004. PROCEEDINGS OF THE 2004 IEEE COMPUTER SOCIETY CONFERENCE ON WASHINGTON, DC, USA 27 JUNE - 2 JULY 2004, IEEE COMPUTER SOCIETY, PISCATAWAY, NJ, USA LNKD- DOI:10.1109/CVPR.2004.1315094, vol. 1, 27 June 2004 (2004-06-27), pages 652 - 659, XP010708622, ISBN: 978-0-7695-2158-9
BENNEWITZ M ET AL: "Using em to learn motion behaviors of persons with mobile robots", PROCEEDINGS OF THE 2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS. (IROS 2002). LAUSANNE, SWITZERLAND, SEPT. 30 - OCT. 4, 2002; [IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS], NEW YORK, NY : IEEE, US L, vol. 1, 30 September 2002 (2002-09-30), pages 502 - 507, XP010609301, ISBN: 978-0-7803-7398-3
NISTER D ET AL: "Visual odometry", COMPUTER VISION AND PATTERN RECOGNITION, 2004. CVPR 2004. PROCEEDINGS OF THE 2004 IEEE COMPUTER SOCIETY CONFERENCE ON WASHINGTON, DC, USA 27 JUNE - 2 JULY 2004, IEEE COMPUTER SOCIETY, PISCATAWAY, NJ, USA LNKD- DOI:10.1109/CVPR.2004.1315094, vol. 1, 27 June 2004 (2004-06-27), pages 652 - 659, XP010708622, ISBN: 978-0-7695-2158-9
BENNEWITZ M ET AL: "Using em to learn motion behaviors of persons with mobile robots", PROCEEDINGS OF THE 2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS. (IROS 2002). LAUSANNE, SWITZERLAND, SEPT. 30 - OCT. 4, 2002; [IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS], NEW YORK, NY : IEEE, US L, vol. 1, 30 September 2002 (2002-09-30), pages 502 - 507, XP010609301, ISBN: 978-0-7803-7398-3
Attorney, Agent or Firm:
HATZMANN, M.J. (Johan de Wittlaan 7, JR Den Haag, NL)
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