Patent Document ID: 20170277197
Application ID: 15076745
Patent Status: 0

Claim One:
1. A method for autonomously navigating a vehicle, the method comprising: capturing a sequence of image pairs using a stereo camera; a navigation application embedded in a non-transitory memory including a sequence of processor executable instructions for: storing a vehicle pose, where a vehicle pose is defined as a position and orientation with respect to a coordination frame; detecting a plurality of matching feature points in a first matching image pair; determining a plurality of corresponding object points in three-dimensional (3D) space from the first image pair; tracking the plurality of feature points from the first image pair to a second image pair; determining a plurality of corresponding object points in 3D space from the second image pair; calculating a vehicle pose transformation using the object points from the first and second image pairs; determining rotation angle and translation from the vehicle pose transformation; and, when the rotation angle or translation exceed a minimum threshold, updating the stored vehicle pose.