CN110458865B - 平面自然特征目标的原位形成 - Google Patents

平面自然特征目标的原位形成 Download PDF

Info

Publication number
CN110458865B
CN110458865B CN201910659586.5A CN201910659586A CN110458865B CN 110458865 B CN110458865 B CN 110458865B CN 201910659586 A CN201910659586 A CN 201910659586A CN 110458865 B CN110458865 B CN 110458865B
Authority
CN
China
Prior art keywords
planar target
image
representation
planar
camera
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910659586.5A
Other languages
English (en)
Chinese (zh)
Other versions
CN110458865A (zh
Inventor
丹尼尔·瓦格纳
潘琪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qualcomm Inc
Original Assignee
Qualcomm Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qualcomm Inc filed Critical Qualcomm Inc
Priority to CN201910659586.5A priority Critical patent/CN110458865B/zh
Publication of CN110458865A publication Critical patent/CN110458865A/zh
Application granted granted Critical
Publication of CN110458865B publication Critical patent/CN110458865B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00Manipulating 3D models or images for computer graphics
    • G06T19/006Mixed reality
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/70Determining position or orientation of objects or cameras
    • G06T7/73Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/20Analysis of motion
    • G06T7/246Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30244Camera pose

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Computer Graphics (AREA)
  • Image Analysis (AREA)
  • Processing Or Creating Images (AREA)
  • User Interface Of Digital Computer (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
CN201910659586.5A 2013-03-14 2014-02-26 平面自然特征目标的原位形成 Active CN110458865B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910659586.5A CN110458865B (zh) 2013-03-14 2014-02-26 平面自然特征目标的原位形成

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US13/802,834 2013-03-14
US13/802,834 US10733798B2 (en) 2013-03-14 2013-03-14 In situ creation of planar natural feature targets
CN201910659586.5A CN110458865B (zh) 2013-03-14 2014-02-26 平面自然特征目标的原位形成
PCT/US2014/018787 WO2014158620A1 (en) 2013-03-14 2014-02-26 In situ creation of planar natural feature targets
CN201480013489.4A CN105074776B (zh) 2013-03-14 2014-02-26 平面自然特征目标的原位形成

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201480013489.4A Division CN105074776B (zh) 2013-03-14 2014-02-26 平面自然特征目标的原位形成

Publications (2)

Publication Number Publication Date
CN110458865A CN110458865A (zh) 2019-11-15
CN110458865B true CN110458865B (zh) 2023-08-29

Family

ID=50382554

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201910659586.5A Active CN110458865B (zh) 2013-03-14 2014-02-26 平面自然特征目标的原位形成
CN201480013489.4A Active CN105074776B (zh) 2013-03-14 2014-02-26 平面自然特征目标的原位形成

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201480013489.4A Active CN105074776B (zh) 2013-03-14 2014-02-26 平面自然特征目标的原位形成

Country Status (7)

Country Link
US (2) US10733798B2 (enExample)
EP (2) EP2973395A1 (enExample)
JP (1) JP6456347B2 (enExample)
KR (1) KR102169492B1 (enExample)
CN (2) CN110458865B (enExample)
BR (1) BR112015023345B1 (enExample)
WO (1) WO2014158620A1 (enExample)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10733798B2 (en) * 2013-03-14 2020-08-04 Qualcomm Incorporated In situ creation of planar natural feature targets
US20140270477A1 (en) * 2013-03-14 2014-09-18 Jonathan Coon Systems and methods for displaying a three-dimensional model from a photogrammetric scan
US9595125B2 (en) * 2013-08-30 2017-03-14 Qualcomm Incorporated Expanding a digital representation of a physical plane
US20150206343A1 (en) * 2014-01-17 2015-07-23 Nokia Corporation Method and apparatus for evaluating environmental structures for in-situ content augmentation
JP6476657B2 (ja) * 2014-08-27 2019-03-06 株式会社リコー 画像処理装置、画像処理方法、およびプログラム
US9754416B2 (en) * 2014-12-23 2017-09-05 Intel Corporation Systems and methods for contextually augmented video creation and sharing
US10152825B2 (en) * 2015-10-16 2018-12-11 Fyusion, Inc. Augmenting multi-view image data with synthetic objects using IMU and image data
RU2613734C1 (ru) 2015-10-22 2017-03-21 Общество с ограниченной ответственностью "Аби Девелопмент" Захват видео в сценарии ввода данных
US10621780B2 (en) * 2017-02-02 2020-04-14 Infatics, Inc. System and methods for improved aerial mapping with aerial vehicles
US10796477B2 (en) * 2017-06-20 2020-10-06 Edx Technologies, Inc. Methods, devices, and systems for determining field of view and producing augmented reality
WO2019045728A1 (en) * 2017-08-31 2019-03-07 Sony Mobile Communications Inc. ELECTRONIC DEVICES, METHODS, AND COMPUTER PROGRAM PRODUCTS FOR CONTROLLING 3D MODELING OPERATIONS BASED ON POSITION MEASUREMENTS
US10706561B2 (en) * 2017-12-21 2020-07-07 612 Authentic Media Systems and methods to track objects in video
EP3815045B1 (en) * 2018-06-29 2025-10-22 Zoox, Inc. Sensor calibration
WO2020132627A1 (en) * 2018-12-20 2020-06-25 Aquifi, Inc. Systems and methods for object dimensioning based on partial visual information
US11532093B2 (en) 2019-10-10 2022-12-20 Intermap Technologies, Inc. First floor height estimation from optical images
US11370124B2 (en) * 2020-04-23 2022-06-28 Abb Schweiz Ag Method and system for object tracking in robotic vision guidance
US11551366B2 (en) * 2021-03-05 2023-01-10 Intermap Technologies, Inc. System and methods for correcting terrain elevations under forest canopy
US12056888B2 (en) 2021-09-07 2024-08-06 Intermap Technologies, Inc. Methods and apparatuses for calculating building heights from mono imagery
WO2025182598A1 (ja) * 2024-02-26 2025-09-04 ソニーグループ株式会社 情報処理装置、情報処理方法及び情報処理プログラム

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1908962A (zh) * 2006-08-21 2007-02-07 北京中星微电子有限公司 实时鲁棒的人脸追踪显示方法及系统
KR20110051494A (ko) * 2009-11-10 2011-05-18 광운대학교 산학협력단 물체 인식 방법 및 장치
CN102473440A (zh) * 2009-08-07 2012-05-23 高通股份有限公司 处理图像的设备及方法
CN105074776B (zh) * 2013-03-14 2019-08-16 高通股份有限公司 平面自然特征目标的原位形成

Family Cites Families (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2411532B (en) * 2004-02-11 2010-04-28 British Broadcasting Corp Position determination
US7356165B2 (en) * 2004-03-09 2008-04-08 Matsushita Electric Industrial Co., Ltd. Imaging apparatus performing a high reliability data analysis
CA2556082A1 (en) 2004-03-12 2005-09-29 Bracco Imaging S.P.A. Accuracy evaluation of video-based augmented reality enhanced surgical navigation systems
US20090226094A1 (en) * 2006-09-13 2009-09-10 Pioneer Corporation Image correcting device and method, and computer program
FR2911707B1 (fr) * 2007-01-22 2009-07-10 Total Immersion Sa Procede et dispositifs de realite augmentee utilisant un suivi automatique, en temps reel, d'objets geometriques planaires textures, sans marqueur, dans un flux video.
US8126260B2 (en) * 2007-05-29 2012-02-28 Cognex Corporation System and method for locating a three-dimensional object using machine vision
US8446468B1 (en) * 2007-06-19 2013-05-21 University Of Southern California Moving object detection using a mobile infrared camera
US8401276B1 (en) * 2008-05-20 2013-03-19 University Of Southern California 3-D reconstruction and registration
US8970690B2 (en) * 2009-02-13 2015-03-03 Metaio Gmbh Methods and systems for determining the pose of a camera with respect to at least one object of a real environment
FR2951565B1 (fr) * 2009-10-20 2016-01-01 Total Immersion Procede, programme d'ordinateur et dispositif de suivi hybride de representations d'objets, en temps reel, dans une sequence d'images
US8509482B2 (en) 2009-12-21 2013-08-13 Canon Kabushiki Kaisha Subject tracking apparatus, subject region extraction apparatus, and control methods therefor
EP2339537B1 (en) * 2009-12-23 2016-02-24 Metaio GmbH Method of determining reference features for use in an optical object initialization tracking process and object initialization tracking method
KR101080375B1 (ko) 2010-04-23 2011-11-04 광주과학기술원 객체 학습 방법, 객체 학습 방법을 이용한 객체 추적 방법, 객체 학습 및 추적 시스템
KR101657120B1 (ko) * 2010-05-06 2016-09-13 엘지전자 주식회사 이동 단말기 및 이것의 영상 디스플레이 방법
EP2395478A1 (en) 2010-06-12 2011-12-14 Toyota Motor Europe NV/SA Monocular 3D pose estimation and tracking by detection
US9013550B2 (en) 2010-09-09 2015-04-21 Qualcomm Incorporated Online reference generation and tracking for multi-user augmented reality
US9262002B2 (en) 2010-11-03 2016-02-16 Qualcomm Incorporated Force sensing touch screen
US20120120113A1 (en) 2010-11-15 2012-05-17 Eduardo Hueso Method and apparatus for visualizing 2D product images integrated in a real-world environment
US9213908B2 (en) * 2011-03-23 2015-12-15 Metaio Gmbh Method for registering at least one part of a first and second image using a collineation warping function
US8638986B2 (en) 2011-04-20 2014-01-28 Qualcomm Incorporated Online reference patch generation and pose estimation for augmented reality
US9020187B2 (en) 2011-05-27 2015-04-28 Qualcomm Incorporated Planar mapping and tracking for mobile devices
US9342610B2 (en) * 2011-08-25 2016-05-17 Microsoft Technology Licensing, Llc Portals: registered objects as virtualized, personalized displays
US9305361B2 (en) * 2011-09-12 2016-04-05 Qualcomm Incorporated Resolving homography decomposition ambiguity based on orientation sensors
GB2506338A (en) * 2012-07-30 2014-04-02 Sony Comp Entertainment Europe A method of localisation and mapping

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1908962A (zh) * 2006-08-21 2007-02-07 北京中星微电子有限公司 实时鲁棒的人脸追踪显示方法及系统
CN102473440A (zh) * 2009-08-07 2012-05-23 高通股份有限公司 处理图像的设备及方法
KR20110051494A (ko) * 2009-11-10 2011-05-18 광운대학교 산학협력단 물체 인식 방법 및 장치
CN105074776B (zh) * 2013-03-14 2019-08-16 高通股份有限公司 平面自然特征目标的原位形成

Also Published As

Publication number Publication date
BR112015023345B1 (pt) 2022-08-09
WO2014158620A1 (en) 2014-10-02
JP2016530581A (ja) 2016-09-29
EP3640889A1 (en) 2020-04-22
US11481982B2 (en) 2022-10-25
KR102169492B1 (ko) 2020-10-23
KR20150130483A (ko) 2015-11-23
JP6456347B2 (ja) 2019-01-23
US20140267397A1 (en) 2014-09-18
BR112015023345A2 (pt) 2017-07-18
EP2973395A1 (en) 2016-01-20
US10733798B2 (en) 2020-08-04
US20200334913A1 (en) 2020-10-22
CN105074776B (zh) 2019-08-16
EP3640889B1 (en) 2025-07-02
CN110458865A (zh) 2019-11-15
CN105074776A (zh) 2015-11-18

Similar Documents

Publication Publication Date Title
US11481982B2 (en) In situ creation of planar natural feature targets
CN104781849B (zh) 单眼视觉同时定位与建图(slam)的快速初始化
CN105210113B (zh) 具有一般和全景相机移动的单眼视觉slam
JP6228320B2 (ja) 制約なしslam用のセンサベースのカメラ運動検出
US9727800B2 (en) Optimized object detection
WO2019205851A1 (zh) 位姿确定方法、装置、智能设备及存储介质
CN108028904A (zh) 移动设备上光场增强现实/虚拟现实的方法和系统
CN114093020A (zh) 动作捕捉方法、装置、电子设备及存储介质

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TG01 Patent term adjustment
TG01 Patent term adjustment