Detecting optical discrepancies in captured images

Embodiments are described for detecting optical discrepancies associated with image capture analyzing pixels in multiple images corresponding to common points of reference in a physical environment. In an embodiment, photometric error values are averaged over time to compute the mean error at each p...

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Bibliographische Detailangaben
Hauptverfasser:	Kennedy, Ryan, Henry, Peter, Bachrach, Abraham
Format:	Patent
Sprache:	eng
Schlagworte:	AEROPLANES AIRCRAFT ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSIONTRANSMISSIONS IN AIRCRAFT AVIATION CALCULATING COMPUTING CONTROLLING COSMONAUTICS COUNTING ELECTRIC COMMUNICATION TECHNIQUE ELECTRICITY EQUIPMENT FOR FITTING IN OR TO AIRCRAFT FLYING SUITS HANDLING RECORD CARRIERS HELICOPTERS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL PARACHUTES PERFORMING OPERATIONS PHYSICS PICTORIAL COMMUNICATION, e.g. TELEVISION PRESENTATION OF DATA RECOGNITION OF DATA RECORD CARRIERS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TRANSPORTING
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Beschreibung
Zusammenfassung:	Embodiments are described for detecting optical discrepancies associated with image capture analyzing pixels in multiple images corresponding to common points of reference in a physical environment. In an embodiment, photometric error values are averaged over time to compute the mean error at each pixel. Once the estimate of the mean error has a sufficient number of updates above a specified value, the estimate is thresholded to provide a mask of any optical discrepancies occurring in the stereo pair of images. Applications include detecting optical discrepancies in images captured for use by a visual navigation system in guiding an autonomous vehicle (e.g., an unmanned aerial vehicle).