Patent Document ID: 8744169
Application ID: 13118959
Patent Status: 1

Claim One:
1. A method of estimating egomotion of a vehicle from a sequence of stereo images taken with a stereo camera, the method comprising: computing, from a first pair of stereo images and a second pair of stereo images preceding the first pair of stereo images in the sequence, increments between the first and second pairs of stereo images by determining an image correspondence set, correspondences of the image correspondence set being computed for all stereo image pairs in the sequence, and 3D triangulation of the correspondences to provide 3D points in a camera-centric co-ordinate system; estimating rotational egomotion by voting on image motion vectors, the image motion vectors being weighted by the 3D distance from the correspondences to the stereo camera; and estimating translational egomotion by voting on 3D motion vectors obtained by triangulating stereo correspondences in the first and second image pairs and by connecting the 3D points from correspondences in images from one camera of the stereo camera.