WO2001039120A3 - System and method for estimating ego-motion of a moving vehicle using successive images recorded along the vehicle's path of motion - Google Patents

System and method for estimating ego-motion of a moving vehicle using successive images recorded along the vehicle's path of motion Download PDF

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Publication number
WO2001039120A3
WO2001039120A3 PCT/US2000/032143 US0032143W WO0139120A3 WO 2001039120 A3 WO2001039120 A3 WO 2001039120A3 US 0032143 W US0032143 W US 0032143W WO 0139120 A3 WO0139120 A3 WO 0139120A3
Authority
WO
WIPO (PCT)
Prior art keywords
motion
vehicle
item
ego
image information
Prior art date
Application number
PCT/US2000/032143
Other languages
French (fr)
Other versions
WO2001039120A2 (en
Inventor
Gideon Stein
Amnon Shashua
Ofer Mano
Original Assignee
Mobileye Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mobileye Inc filed Critical Mobileye Inc
Priority to AU17933/01A priority Critical patent/AU1793301A/en
Priority to EP00980706A priority patent/EP1257971A4/en
Priority to CA002392652A priority patent/CA2392652A1/en
Priority to JP2001540712A priority patent/JP2003515827A/en
Publication of WO2001039120A2 publication Critical patent/WO2001039120A2/en
Publication of WO2001039120A3 publication Critical patent/WO2001039120A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude

Landscapes

  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)

Abstract

An ego-motion determination system (fig. 1, item 12) is disclosed for generating an estimate as to the ego-motion of a vehicle (fig. 1, item 10) moving along a roadway (fig. 1, item 11). The ego-motion determination system includes an image information receiver (fig. 1, item 13) and a processor (fig. 1, item 14). The image information receiver (fig. 1, item 13) is configured to receive image information relating to a series of at least two images recorded as the vehicle moves along a roadway (fig. 1, item 11). The processor is configured to process the image information received by the image receiver to generate an ego-motion estimate of the vehicle, including the translation of the vehicle in the forward direction and the rotation of the vehicle around a vertical axis as between, for example, successive images (see fig. 3)
PCT/US2000/032143 1999-11-26 2000-11-27 System and method for estimating ego-motion of a moving vehicle using successive images recorded along the vehicle's path of motion WO2001039120A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
AU17933/01A AU1793301A (en) 1999-11-26 2000-11-27 System and method for estimating ego-motion of a moving vehicle using successiveimages recorded along the vehicle's path of motion
EP00980706A EP1257971A4 (en) 1999-11-26 2000-11-27 System and method for estimating ego-motion of a moving vehicle using successive images recorded along the vehicle's path of motion
CA002392652A CA2392652A1 (en) 1999-11-26 2000-11-27 System and method for estimating ego-motion of a moving vehicle using successive images recorded along the vehicle's path of motion
JP2001540712A JP2003515827A (en) 1999-11-26 2000-11-27 System and method for predicting ego motion of a moving vehicle using a sequence of images recorded along the path of vehicle movement

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US16758799P 1999-11-26 1999-11-26
US60/167,587 1999-11-26
US23016600P 2000-09-01 2000-09-01
US60/230,166 2000-09-01

Publications (2)

Publication Number Publication Date
WO2001039120A2 WO2001039120A2 (en) 2001-05-31
WO2001039120A3 true WO2001039120A3 (en) 2001-10-04

Family

ID=26863299

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2000/032143 WO2001039120A2 (en) 1999-11-26 2000-11-27 System and method for estimating ego-motion of a moving vehicle using successive images recorded along the vehicle's path of motion

Country Status (5)

Country Link
EP (1) EP1257971A4 (en)
JP (1) JP2003515827A (en)
AU (1) AU1793301A (en)
CA (1) CA2392652A1 (en)
WO (1) WO2001039120A2 (en)

Cited By (1)

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US9555803B2 (en) 2002-05-03 2017-01-31 Magna Electronics Inc. Driver assistance system for vehicle

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US5877897A (en) 1993-02-26 1999-03-02 Donnelly Corporation Automatic rearview mirror, vehicle lighting control and vehicle interior monitoring system using a photosensor array
US6822563B2 (en) 1997-09-22 2004-11-23 Donnelly Corporation Vehicle imaging system with accessory control
US7655894B2 (en) 1996-03-25 2010-02-02 Donnelly Corporation Vehicular image sensing system
US7542834B2 (en) 2003-10-17 2009-06-02 Panasonic Corporation Mobile unit motion calculating method, apparatus and navigation system
JP4319928B2 (en) * 2004-03-09 2009-08-26 株式会社デンソー Vehicle state detection system and vehicle state detection method
US7526103B2 (en) 2004-04-15 2009-04-28 Donnelly Corporation Imaging system for vehicle
GB0516403D0 (en) * 2005-08-10 2005-09-14 Trw Ltd Method and apparatus for determining motion of a vehicle
WO2008024639A2 (en) 2006-08-11 2008-02-28 Donnelly Corporation Automatic headlamp control system
EP2179398B1 (en) * 2007-08-22 2011-03-02 Honda Research Institute Europe GmbH Estimating objects proper motion using optical flow, kinematics and depth information
CN101419711B (en) * 2008-12-15 2012-05-30 东软集团股份有限公司 Method and device for estimating self moving parameter of vehicle
US8866901B2 (en) 2010-01-15 2014-10-21 Honda Elesys Co., Ltd. Motion calculation device and motion calculation method
US10163220B2 (en) 2015-08-27 2018-12-25 Hrl Laboratories, Llc Efficient hybrid method for ego-motion from videos captured using an aerial camera
US9566986B1 (en) 2015-09-25 2017-02-14 International Business Machines Corporation Controlling driving modes of self-driving vehicles
CN106611512B (en) * 2015-10-23 2020-02-07 杭州海康威视数字技术股份有限公司 Method, device and system for processing starting of front vehicle
WO2017209886A2 (en) * 2016-05-02 2017-12-07 Hrl Laboratories, Llc An efficient hybrid method for ego-motion from videos captured using an aerial camera
CN108605113B (en) * 2016-05-02 2020-09-15 赫尔实验室有限公司 Methods, systems, and non-transitory computer-readable media for self-motion compensation
KR20200016627A (en) * 2018-08-07 2020-02-17 삼성전자주식회사 Device and method to estimate ego motion
CN112802210B (en) * 2021-03-22 2021-08-10 成都宜泊信息科技有限公司 Parking fee payment method, system, electronic equipment and storage medium

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US5473364A (en) * 1994-06-03 1995-12-05 David Sarnoff Research Center, Inc. Video technique for indicating moving objects from a movable platform
US5629988A (en) * 1993-06-04 1997-05-13 David Sarnoff Research Center, Inc. System and method for electronic image stabilization
US5777690A (en) * 1995-01-20 1998-07-07 Kabushiki Kaisha Toshiba Device and method for detection of moving obstacles
US5991428A (en) * 1996-09-12 1999-11-23 Kabushiki Kaisha Toshiba Moving object detection apparatus and method

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US4969036A (en) * 1989-03-31 1990-11-06 Bir Bhanu System for computing the self-motion of moving images devices
US5036474A (en) * 1989-03-31 1991-07-30 Honeywell Inc. Motion detection and tracking from a mobile platform
US5257209A (en) * 1990-06-26 1993-10-26 Texas Instruments Incorporated Optical flow computation for moving sensors
US5259040A (en) * 1991-10-04 1993-11-02 David Sarnoff Research Center, Inc. Method for determining sensor motion and scene structure and image processing system therefor
US5751838A (en) * 1996-01-26 1998-05-12 Nec Research Institute, Inc. Correction of camera motion between two image frames

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5629988A (en) * 1993-06-04 1997-05-13 David Sarnoff Research Center, Inc. System and method for electronic image stabilization
US5473364A (en) * 1994-06-03 1995-12-05 David Sarnoff Research Center, Inc. Video technique for indicating moving objects from a movable platform
US5777690A (en) * 1995-01-20 1998-07-07 Kabushiki Kaisha Toshiba Device and method for detection of moving obstacles
US5991428A (en) * 1996-09-12 1999-11-23 Kabushiki Kaisha Toshiba Moving object detection apparatus and method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP1257971A4 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9555803B2 (en) 2002-05-03 2017-01-31 Magna Electronics Inc. Driver assistance system for vehicle

Also Published As

Publication number Publication date
JP2003515827A (en) 2003-05-07
CA2392652A1 (en) 2001-05-31
AU1793301A (en) 2001-06-04
EP1257971A4 (en) 2005-07-06
EP1257971A2 (en) 2002-11-20
WO2001039120A2 (en) 2001-05-31

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