Patent ID: 8866901
Filing Date: 2014-10-21
Classification: G06K,G06T

Abstract:
1. A motion calculation device comprising: an image-capturing unit configured to capture an image of a range including a plane and to output the captured image; an extraction unit configured to extract a plane region from the image by selecting image blocks from the image and by incorporating some of the image blocks into the plan region when a difference between a plane orientation of each of the image blocks and that of the plane region is smaller than a predetermined threshold; a detection unit configured to detect feature points and motion vectors of the feature points from a plurality of images captured by the image-capturing unit at a predetermined time interval and to output a set of feature point correspondences; and a calculation unit configured to receive the set of feature point correspondences from the detection unit and to calculate the motion of the host device by simultaneously using both of an epipolar constraint relating to the feature points and a homography relating to the plane region, wherein the motion of the host device comprises a rotation parameter ω wherein the calculation unit minimizes a cost function expressed by where I