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Feature extraction method, motion state estimation method and motion state estimation device

A motion state and feature point technology, applied in the field of image processing, can solve the problems of enhanced noise and difficulty in determining the degree of image enhancement, etc., to achieve the effect of increasing the number and improving robustness

Active Publication Date: 2020-11-06
RICOH KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in actual processing, it is difficult to determine the degree of image enhancement, and due to the overall enhancement, the influence of noise is also enhanced at the same time

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  • Feature extraction method, motion state estimation method and motion state estimation device
  • Feature extraction method, motion state estimation method and motion state estimation device
  • Feature extraction method, motion state estimation method and motion state estimation device

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Embodiment Construction

[0028]In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of the embodiments of the present invention, and it should be understood that the present invention is not limited by the example embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

[0029] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0030] First, refer to figure 1 A motion state estimation device according to the present invention will be de...

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Abstract

The present invention relates to a feature extraction method, a motion state estimation method and a motion state estimation device. The feature information extraction method comprises: obtaining the successive frames of images of a scene; predicting the feature points of the current frame of the image; dividing the current frame of the image into a plurality of areas, and distributing the number of thresholds of prediction feature points for each area in a plurality of areas; based on the current frame of the image, determining the number of detection of detection feature points in each area in a plurality of areas; in the condition that the number of detection is smaller than the areas to be enhanced of the number of the thresholds, executing grading enhancement processing of the current frame of the image of the area to be enhanced to obtain the enhanced current frame of the image, and determining the number of the detection based on the enhanced current frame of the image; and determining the detection feature points and corresponding enhancement grades of the grading enhancement processing as the feature information.

Description

technical field [0001] The present invention relates to the field of image processing, and more particularly, the present invention relates to a feature extraction method for extracting feature points in consecutive image frames, a motion state estimation method for performing motion state estimation using the feature extraction method, and using the feature Extraction method and motion state estimation apparatus of motion state estimation method. Background technique [0002] In recent years, in the field of computer vision, in application scenarios such as visual measurement, real-time localization and mapping (SLAM), assisted driving, etc., there is a scene image captured by a moving image capture device in consecutive frames, and further by analyzing the consecutive frames image of the scene, enabling the determination of motion information (such as position, orientation, speed, etc.) for the moving image capture device. In this visual odometry (Visual Odometry) process...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/246G06T7/277G06T5/00
CPCG06T5/003G06T2207/10016G06T2207/20201
Inventor 刘童师忠超刘殿超李静雯
Owner RICOH KK