System and method for estimation of a vehicle dynamics with the use of feature points, in pictures by a plurality of cameras

摘要

A system and a method for estimation of a dynamic response of a mobile platform by collating of feature points in overlapping images of cameras on the platform, for example cameras in a continuously - point of view - camera system on a vehicle. The method comprises the identifying of overlapping image regions for any two cameras in the completely - point of view - camera system, the identifying common feature points in the overlapping image areas, and the detecting that the common feature points in the overlap of image regions are not lie at the same point. The method comprises, moreover, the estimate of the vehicle dynamics parameters with three degrees of freedom on the basis of the comparison between the common feature points, and the estimating a vehicle dynamics of one or more of pitching, rolling and rms with the use of the vehicle dynamics parameters.