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1. (WO2018182524) REAL TIME ROBUST LOCALIZATION VIA VISUAL INERTIAL ODOMETRY

Pub. No.:    WO/2018/182524    International Application No.:    PCT/SG2018/050153
Publication Date: Fri Oct 05 01:59:59 CEST 2018 International Filing Date: Fri Mar 30 01:59:59 CEST 2018
IPC: G06T 7/73
G01C 21/16
G06T 7/246
Applicants: AGENCY FOR SCIENCE, TECHNOLOGY AND RESEARCH
Inventors: LI, Zhengguo
ZHENG, Jinghong
ZHU, Zijian Orson
REN, Qinyuan
WAN, Kong Wah
YAU, Wei Yun
Title: REAL TIME ROBUST LOCALIZATION VIA VISUAL INERTIAL ODOMETRY
Abstract:
A camera-based localization system is provided. The camera-based localization system may assist an unmanned vehicle to continue its operation in a GPS-denied environment with minimal increase in vehicular cost and payload. In one aspect, a method, a computer-readable medium, and an apparatus for localization via visual inertial odometry are provided. The apparatus may construct an optical flow based on feature points across a first video frame and a second video frame captured by a camera of the apparatus. The apparatus may refine the angular velocity and the linear velocity corresponding to the second video frame via solving a quadratic optimization problem constructed based on the optical flow, the initial values of the angular velocity and the linear velocity corresponding to the second video frame. The apparatus may estimate the pose of the apparatus based on the refined angular velocity and the refined linear velocity.