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METHOD AND DEVICE FOR THE ESTIMATION OF CAR EGO-MOTION FROM SURROUND VIEW IMAGES
METHOD AND DEVICE FOR THE ESTIMATION OF CAR EGO-MOTION FROM SURROUND VIEW IMAGES
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机译:环视图像估计汽车自我运动的方法和装置
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摘要
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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