Patent ID: 11935249
Assignee: COMPOUND EYE, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 0:
1. A method for determining egomotion of a system comprising an image acquisition system, the method comprising:
receiving a set of images using the image acquisition system;
determining dense correspondence maps matching features between image pairs from the set of images, wherein each dense correspondence map is determined by:
determining a pixel hash for each pixel in each of a first image and a second image of an image pair;
for each pixel in the first image, for a predetermined number of iterations, on each iteration:
determining a set of correspondence vectors for the respective pixel, wherein each correspondence vector of the set of correspondence vectors identifies a corresponding pixel in the second image that is paired with the respective pixel; and
selecting a correspondence vector from the set of correspondence vectors based on a cost value determined between the pixel hash of the paired pixels;

wherein the dense correspondence map comprises the correspondence vectors selected during an iteration matching the predetermined number of iterations;

selecting, from the matching features, odometry features shared between the images of the set of images based on the dense correspondence maps; and
determining the egomotion of the system based on the odometry features; wherein for each pixel of the first image, during a first iteration of the predetermined number of iterations, the set of correspondence vectors is determined using a dense correspondence map for a prior timestep, wherein during iterations subsequent to the first iteration the set of correspondence vectors are determined based on the correspondence vector for a preceding iteration and correspondence vectors for adjacent pixels neighboring the respective pixel in the first image.