Patent Document ID: 10089549
Application ID: 15584986

Base Claim:
1. A system for estimating ego-motion from video scenes, the system comprising: one or more processors and a non-transitory computer-readable medium having executable instructions encoded thereon such that when executed, the one or more processors perform operations of: for consecutive frames in a video captured by a moving camera, determining a first ego-translation estimate between the consecutive frames from a first local minimum (h 0 ,v 0 ); determining a second ego-translation estimate from a second local minimum (h′ 0 ,v′ 0 ); if the second ego-translation estimate does not equal the first ego-translation estimate, determining an optimal solution by minimizing a cost function until the first ego-translation estimate and the second ego-translation estimate are a matching estimate; estimating ego-motion of the camera using the optimal solution; and detecting independent moving objects in the video after compensating for ego-motion of the camera.

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Claim 4:
4. The system as set forth in claim 1 , wherein the one or more processors further perform operations of: determining d(u)=f(x 0 +ru), where r=(h 2 −h 1 ,v 2 −v 1 ), and x 0 =(h 1 ,v 1 ), where d is a function to be minimized and a is a normalized value; performing a line search method to function d such that that α=linesearch(d, Δ, ε 1 ), where Δ=1 and ɛ 1 = min ⁡ (  1 h 2 - h 1  ,  1 v 2 - v 1  ) ; using an alternate line search method to determine an ego-translation estimate (h′,v′) starting from (h,v), wherein (h,v)=round(x 0 +rα), where the round function acts to round to a nearest whole number; and resetting (h 1 ,v 1 )=(h 2 ,v 2 ) and (h 2 ,v 2 )=(h′,v′).