Patent ID: 11899469
Assignee: HONEYWELL INTERNATIONAL INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A method of integrity monitoring for visual odometry, the method comprising:
capturing a first image of a given area at a first time epoch with at least one set of stereo vision sensors;
capturing a second image of the given area at a second time epoch with the stereo vision sensors;
extracting a plurality of features from each of the first and second images;
performing a temporal feature matching process operative to match the extracted features from the first image at the first time epoch with the extracted features from the second image at the second time epoch, wherein the temporal feature matching process uses a feature mismatching limiting discriminator to reduce a likelihood of feature mismatch, between features in the first and second images, to below a first predetermined threshold;
performing a range, or depth, recovery process operative to provide stereo feature matching between two images respectively taken by the stereo vision sensors at the same time epoch, wherein the range, or depth, recovery process uses a range error limiting discriminator to limit features having range errors greater than a second predetermined threshold;
performing an outlier rejection process using a modified random sample consensus (RANSAC) technique operative to limit feature moving events that are greater than a third predetermined threshold;
characterizing a feature error magnitude and feature fault probabilities using overbounding Gaussian models; and
performing a state vector estimation process with integrity check using a solution separation technique to determine a change in rotation and a change in translation between the first image and the second image, to determine error statistics of the change in rotation and the change in translation between the first image and the second image, to detect any faults, and to compute a protection level or integrity risk.