CN104756155B - 合并多个地图以用于基于计算机视觉的跟踪的系统及方法 - Google Patents

合并多个地图以用于基于计算机视觉的跟踪的系统及方法 Download PDF

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CN104756155B
CN104756155B CN201380056317.0A CN201380056317A CN104756155B CN 104756155 B CN104756155 B CN 104756155B CN 201380056317 A CN201380056317 A CN 201380056317A CN 104756155 B CN104756155 B CN 104756155B
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keyframes
scene
diversity
keyframe
maps
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CN104756155A (zh
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M·拉马钱德兰
A·狄亚吉
S·迪亚兹斯平多拉
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Qualcomm Inc
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Qualcomm Inc
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/60—Editing figures and text; Combining figures or text
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/255—Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/28—Quantising the image, e.g. histogram thresholding for discrimination between background and foreground patterns

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
CN201380056317.0A 2012-10-31 2013-10-08 合并多个地图以用于基于计算机视觉的跟踪的系统及方法 Expired - Fee Related CN104756155B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201261720804P 2012-10-31 2012-10-31
US61/720,804 2012-10-31
US13/830,664 2013-03-14
US13/830,664 US9177404B2 (en) 2012-10-31 2013-03-14 Systems and methods of merging multiple maps for computer vision based tracking
PCT/US2013/063876 WO2014070390A1 (en) 2012-10-31 2013-10-08 Systems and methods of merging multiple maps for computer vision based tracking

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Publication Number Publication Date
CN104756155A CN104756155A (zh) 2015-07-01
CN104756155B true CN104756155B (zh) 2017-09-19

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US (1) US9177404B2 (cg-RX-API-DMAC7.html)
EP (1) EP2915138B1 (cg-RX-API-DMAC7.html)
JP (1) JP6339579B2 (cg-RX-API-DMAC7.html)
KR (1) KR20150079730A (cg-RX-API-DMAC7.html)
CN (1) CN104756155B (cg-RX-API-DMAC7.html)
WO (1) WO2014070390A1 (cg-RX-API-DMAC7.html)

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US20140119598A1 (en) 2014-05-01
EP2915138B1 (en) 2019-07-31
KR20150079730A (ko) 2015-07-08
JP6339579B2 (ja) 2018-06-06
US9177404B2 (en) 2015-11-03
WO2014070390A1 (en) 2014-05-08
JP2016500885A (ja) 2016-01-14
EP2915138A1 (en) 2015-09-09
CN104756155A (zh) 2015-07-01

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