CN105339981B - 用于使用一组基元配准数据的方法 - Google Patents

用于使用一组基元配准数据的方法 Download PDF

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Publication number
CN105339981B
CN105339981B CN201480034631.3A CN201480034631A CN105339981B CN 105339981 B CN105339981 B CN 105339981B CN 201480034631 A CN201480034631 A CN 201480034631A CN 105339981 B CN105339981 B CN 105339981B
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primitive
point
plane
coordinate system
group
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CN105339981A (zh
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田口裕
田口裕一
E·阿塔埃尔-坎斯佐古力
S·拉姆阿里加姆
T·W·加拉斯
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Priority claimed from US13/921,296 external-priority patent/US9420265B2/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

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  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Image Analysis (AREA)
  • Processing Or Creating Images (AREA)
  • Studio Devices (AREA)
CN201480034631.3A 2013-06-19 2014-05-30 用于使用一组基元配准数据的方法 Active CN105339981B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US13/921,296 US9420265B2 (en) 2012-06-29 2013-06-19 Tracking poses of 3D camera using points and planes
US13/921,296 2013-06-19
PCT/JP2014/065026 WO2014203743A1 (en) 2013-06-19 2014-05-30 Method for registering data using set of primitives

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CN105339981A CN105339981A (zh) 2016-02-17
CN105339981B true CN105339981B (zh) 2019-04-12

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JP (1) JP6228239B2 (ja)
CN (1) CN105339981B (ja)
DE (1) DE112014002943T5 (ja)
WO (1) WO2014203743A1 (ja)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6775969B2 (ja) * 2016-02-29 2020-10-28 キヤノン株式会社 情報処理装置、情報処理方法、及びプログラム
EP3943888A1 (en) 2016-08-04 2022-01-26 Reification Inc. Methods for simultaneous localization and mapping (slam) and related apparatus and systems
CN106780601B (zh) * 2016-12-01 2020-03-27 北京未动科技有限公司 一种空间位置追踪方法、装置及智能设备
EP3333538B1 (en) * 2016-12-07 2020-09-09 Hexagon Technology Center GmbH Scanner vis

Citations (4)

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Publication number Priority date Publication date Assignee Title
JP2009237845A (ja) * 2008-03-27 2009-10-15 Sony Corp 情報処理装置、および情報処理方法、並びにコンピュータ・プログラム
JP2010288112A (ja) * 2009-06-12 2010-12-24 Nissan Motor Co Ltd 自己位置推定装置及び自己位置推定方法
CN102609942A (zh) * 2011-01-31 2012-07-25 微软公司 使用深度图进行移动相机定位
CN103123727A (zh) * 2011-11-21 2013-05-29 联想(北京)有限公司 即时定位与地图构建方法和设备

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5580164B2 (ja) * 2010-10-18 2014-08-27 株式会社トプコン 光学情報処理装置、光学情報処理方法、光学情報処理システム、光学情報処理プログラム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009237845A (ja) * 2008-03-27 2009-10-15 Sony Corp 情報処理装置、および情報処理方法、並びにコンピュータ・プログラム
JP2010288112A (ja) * 2009-06-12 2010-12-24 Nissan Motor Co Ltd 自己位置推定装置及び自己位置推定方法
CN102609942A (zh) * 2011-01-31 2012-07-25 微软公司 使用深度图进行移动相机定位
CN103123727A (zh) * 2011-11-21 2013-05-29 联想(北京)有限公司 即时定位与地图构建方法和设备

Non-Patent Citations (6)

* Cited by examiner, † Cited by third party
Title
3D SLAM using planar segments;JAN WEINGARTEN ET AL;《IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS》;20061001;全文
Camera tracking for augmented reality media;BOLAN JIANG ET AL;《MULTIMEDIA AND EXPO，2000.ICME 2000.2000 IEEE INTERNATIONAL CONFEREN CE ON NEW YORK》;20000730;全文
MonoSLAM：Real-Time Single Camera SLAM;ANDREW J DAVISON ET AL;《IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE》;20070601;第29卷(第6期);全文
Point一plane SLAM for hand-held 3D sensors;TAGUCHI YUICHI ET AL;《2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION》;20130506;全文
RGB-D camera-based parallel tracking and meshing;SEBASTIAN LIEBERKNECHT ET AL;《MIXED AND AUGMENTED REALITY(ISMAR)，2011 10TH IEEE INTERNATIONAL SYMPOSIUM ON》;20111026;全文
RGB一D mapping:Using Kinect一style depth cameras for dense 3D modeling of indoor environments;P.HENRY ET AL;《THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH》;20120210;第31卷(第5期);全文

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DE112014002943T5 (de) 2016-03-10
JP6228239B2 (ja) 2017-11-08
WO2014203743A1 (en) 2014-12-24
JP2016527574A (ja) 2016-09-08
CN105339981A (zh) 2016-02-17

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