US 11,989,889 B2
Method for determining a relative movement using a digital image sequence
Alexander Lengsfeld, Bad Muender (DE); Joern Jachalsky, Wennigsen (DE); Marcel Brueckner, Sunnyvale, CA (US); and Philip Lenz, Holle (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Appl. No. 17/278,006
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Oct. 29, 2019, PCT No. PCT/EP2019/079550
§ 371(c)(1), (2) Date Mar. 19, 2021,
PCT Pub. No. WO2020/119997, PCT Pub. Date Jun. 18, 2020.
Claims priority of application No. 102018221617.7 (DE), filed on Dec. 13, 2018.
Prior Publication US 2021/0350548 A1, Nov. 11, 2021
Int. Cl. G06T 7/215 (2017.01); G06T 7/73 (2017.01)
CPC G06T 7/215 (2017.01) [G06T 7/73 (2017.01); G06T 2207/10016 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A method for determining a movement of a device relative to at least one object based on a digital image sequence of the object recorded from a location of the device, the method comprising the following steps:
computing a plurality of optical flow fields from image pairs of the digital image sequence, the image pairs being formed from a most current image and images of the image sequence at different time intervals relative to the most current image;
finding a position of at least one object in a partial image region in the most current image in each case and assigning the partial image region to the object;
forming a plurality of partial optical flow fields from the plurality of optical flow fields, each of the partial flow fields resulting from an intersection of one of the flow fields of the plurality of flow fields with the partial image region of the most current image of the image sequence;
selecting at least one of the partial flow fields from the plurality of partial flow fields in accordance with at least one criterion to facilitate an estimation of a change in scale of the object; and
estimating the change in scale for the at least one object using the assigned partial image region based on the at least one of the selected partial flow fields and a time interval from the different time intervals.