Planar flow based visual odometry with scale resolution

摘要

An optical method and system for determining the absolute motion of a vehicle, the method comprising simultaneously observing a common static, substantially planar surface using a plurality of rigidly mounted mono-ocular cameras to acquire optical flow data; Using resolved image data from the plurality of mono-ocular cameras and the relative position of the plurality of mono-ocular cameras to determine the perpendicular distance from a point in the coordinate system to the common static, substantially planar surface; and calculating an absolute movement parameter of each of the plurality of mono-ocular cameras using the perpendicular distance to determine the absolute movement of the vehicle