Method and device for the estimation of car ego-motion from surround view images
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United States of America Patent
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Dec 15, 2020
Grant Date -
Nov 30, 2017
app pub date -
Aug 16, 2017
filing date -
Feb 16, 2015
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Abstract
A method and device for determining an ego-motion of a vehicle are disclosed. Respective sequences of consecutive images are obtained from a front view camera, a left side view camera, a right side view camera and a rear view camera and merged. A virtual projection of the images to a ground plane is provided using an affine projection. An optical flow is determined from the sequence of projected images, an ego-motion of the vehicle is determined from the optical flow and the ego-motion is used to predict a kinematic state of the car.
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