VISUAL ODOMETRY FOR LOW ILLUMINATION CONDITIONS USING FIXED LIGHT SOURCES

摘要

First and second image data is captured comprising a first and second image, respectively. A fixed light source is identified in each of the first and second images. A first ground plane is determined in the first image data. A first (second) intersection is determined, wherein the first (second) intersection is a point in the first image where a virtual lamp post corresponding to the fixed light source in the first (second) image intersects with the first (second) ground plane. The first image data and the second image data are transformed to provide a first and second inverse perspective map (IPM) comprising a first transformed intersection and a second transformed intersection, respectively. Movement parameters are detemiined based on the location of the first transformed intersection in the first ΓΡΜ and the location of the second transformed intersection in the second IPM.