Patent attributes
A system and method are provided for autonomously navigating a vehicle. The method captures a sequence of image pairs using a stereo camera. A navigation application stores a vehicle pose (history of vehicle position). The application detects a plurality of matching feature points in a first matching image pair, and determines a plurality of corresponding object points in three-dimensional (3D) space from the first image pair. A plurality of feature points are tracked from the first image pair to a second image pair, and the plurality of corresponding object points in 3D space are determined from the second image pair. From this, a vehicle pose transformation is calculated using the object points from the first and second image pairs. The rotation angle and translation are determined from the vehicle pose transformation. If the rotation angle or translation exceed a minimum threshold, the stored vehicle pose is updated.
