CN115349140A - 基于多种特征类型的有效定位 - Google Patents

基于多种特征类型的有效定位 Download PDF

Info

Publication number
CN115349140A
CN115349140A CN202180018922.3A CN202180018922A CN115349140A CN 115349140 A CN115349140 A CN 115349140A CN 202180018922 A CN202180018922 A CN 202180018922A CN 115349140 A CN115349140 A CN 115349140A
Authority
CN
China
Prior art keywords
map
pose
equations
images
lines
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.)
Pending
Application number
CN202180018922.3A
Other languages
English (en)
Chinese (zh)
Inventor
周力普
A·斯瓦米纳坦
F·T·施泰因布鲁克
D·E·科佩尔
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.)
Magic Leap Inc
Original Assignee
Magic Leap 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 Magic Leap Inc filed Critical Magic Leap Inc
Publication of CN115349140A publication Critical patent/CN115349140A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Image Analysis (AREA)
CN202180018922.3A 2020-03-03 2021-03-02 基于多种特征类型的有效定位 Pending CN115349140A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US202062984688P 2020-03-03 2020-03-03
US62/984,688 2020-03-03
US202063085994P 2020-09-30 2020-09-30
US63/085,994 2020-09-30
PCT/US2021/020403 WO2021178366A1 (en) 2020-03-03 2021-03-02 Efficient localization based on multiple feature types

Publications (1)

Publication Number Publication Date
CN115349140A true CN115349140A (zh) 2022-11-15

Family

ID=77554890

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180018922.3A Pending CN115349140A (zh) 2020-03-03 2021-03-02 基于多种特征类型的有效定位

Country Status (5)

Country Link
US (2) US11748905B2 (enExample)
EP (1) EP4115329A4 (enExample)
JP (1) JP7701932B2 (enExample)
CN (1) CN115349140A (enExample)
WO (1) WO2021178366A1 (enExample)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11748905B2 (en) 2020-03-03 2023-09-05 Magic Leap, Inc. Efficient localization based on multiple feature types
IL300043A (en) * 2020-07-29 2023-03-01 Magic Leap Inc External calibration of a camera using ray cuts
US12008740B2 (en) * 2020-08-12 2024-06-11 Niantic, Inc. Feature matching using features extracted from perspective corrected image
WO2023052264A1 (en) * 2021-09-29 2023-04-06 Sony Group Corporation Light-field camera, vision system for a vehicle, and method for operating a vision system for a vehicle
US20230252109A1 (en) * 2022-01-17 2023-08-10 Vmware, Inc Methods and systems that continuously optimize sampling rates for metric data in distributed computer systems by preserving metric-data-sequence patterns and characteristics
US12217450B2 (en) 2022-02-08 2025-02-04 Ford Global Technologies, Llc Vehicle localization
CN120912797B (zh) * 2024-11-12 2026-02-27 京海盛大(上海)科技股份有限公司 一种快速半直接slam地图构建算法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108242079A (zh) * 2017-12-30 2018-07-03 北京工业大学 一种基于多特征视觉里程计和图优化模型的vslam方法
WO2018134686A2 (en) * 2017-01-19 2018-07-26 Mindmaze Holding Sa Systems, methods, device and apparatuses for performing simultaneous localization and mapping
CN110702111A (zh) * 2018-07-09 2020-01-17 三星电子株式会社 使用双事件相机的同时定位与地图创建（slam）

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8872928B2 (en) * 2010-09-14 2014-10-28 Adobe Systems Incorporated Methods and apparatus for subspace video stabilization
US9243916B2 (en) 2013-02-21 2016-01-26 Regents Of The University Of Minnesota Observability-constrained vision-aided inertial navigation
JP6435750B2 (ja) 2014-09-26 2018-12-12 富士通株式会社 ３次元座標算出装置、３次元座標算出方法および３次元座標算出プログラム
US9930315B2 (en) 2015-04-29 2018-03-27 Lucid VR, Inc. Stereoscopic 3D camera for virtual reality experience
WO2017022033A1 (ja) 2015-07-31 2017-02-09 富士通株式会社 画像処理装置、画像処理方法および画像処理プログラム
CN111630435B (zh) 2017-12-15 2025-03-14 奇跃公司 用于显示装置的增强的姿势确定
US10964053B2 (en) * 2018-07-02 2021-03-30 Microsoft Technology Licensing, Llc Device pose estimation using 3D line clouds
US11182614B2 (en) 2018-07-24 2021-11-23 Magic Leap, Inc. Methods and apparatuses for determining and/or evaluating localizing maps of image display devices
US10839556B2 (en) * 2018-10-23 2020-11-17 Microsoft Technology Licensing, Llc Camera pose estimation using obfuscated features
US11417017B2 (en) * 2019-04-22 2022-08-16 Texas Instmments Incorporated Camera-only-localization in sparse 3D mapped environments
US11748905B2 (en) 2020-03-03 2023-09-05 Magic Leap, Inc. Efficient localization based on multiple feature types

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018134686A2 (en) * 2017-01-19 2018-07-26 Mindmaze Holding Sa Systems, methods, device and apparatuses for performing simultaneous localization and mapping
CN108242079A (zh) * 2017-12-30 2018-07-03 北京工业大学 一种基于多特征视觉里程计和图优化模型的vslam方法
CN110702111A (zh) * 2018-07-09 2020-01-17 三星电子株式会社 使用双事件相机的同时定位与地图创建（slam）

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
LIPU ZHOU ET AL.: "A Robust and Efficient Algorithm for the PnL Problem Using Algebraic Distance to Approximate the Reprojection Distance", PROCEEDINGS OF THE AAAI CONFERENCE ON ARTIFICIAL INTELLIGENCE, vol. 33, no. 1, 23 July 2019 (2019-07-23), XP093138382, DOI: 10.1609/aaai.v33i01.33019307 *
LIPU ZHOU ET AL.: "An Efficient and Accurate Algorithm for the Perspecitve-n-Point Problem", 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON LNTELLIGENT ROBOTS AND SYSTEMS（IROS）, 3 November 2019 (2019-11-03) *
LIPU ZHOU ET AL.: "Do not Omit Local Minimizer: a Complete Solution for Pose Estimation from 3D Correspondences", ARXIV, 4 April 2019 (2019-04-04), pages 1 - 12, XP093137531, DOI: 10.48550/arxiv.1904.01759 *

Also Published As

Publication number Publication date
EP4115329A1 (en) 2023-01-11
JP2023516656A (ja) 2023-04-20
US11748905B2 (en) 2023-09-05
US12106514B2 (en) 2024-10-01
WO2021178366A1 (en) 2021-09-10
JP7701932B2 (ja) 2025-07-02
US20240029301A1 (en) 2024-01-25
EP4115329A4 (en) 2024-04-24
US20210279909A1 (en) 2021-09-09

Similar Documents

Publication Publication Date Title
US11900547B2 (en) Cross reality system for large scale environments
JP7784489B2 (ja) 位置特定サービスおよび共有場所ベースのコンテンツを伴うクロスリアリティシステム
JP7665839B2 (ja) Ｗｉｆｉ／ｇｐｓベースのマップマージを伴うクロスリアリティシステム
JP7825024B2 (ja) 位置特定サービスを伴うクロスリアリティシステム
JP7748945B2 (ja) 仮想コンテンツの簡略化されたプログラミングを伴うクロスリアリティシステム
JP7604475B2 (ja) 複数のデバイスタイプをサポートするクロスリアリティシステム
JP7684321B2 (ja) 位置特定に関するジオロケーション情報の優先順位化を伴うクロスリアリティシステム
JP7671769B2 (ja) 高速位置特定を伴うクロスリアリティシステム
JP7653982B2 (ja) 無線フィンガプリントを用いたクロスリアリティシステム
US12106514B2 (en) Efficient localization based on multiple feature types
US20190178654A1 (en) Methods for simultaneous localization and mapping (slam) and related apparatus and systems
CN115427758A (zh) 具有精确共享地图的交叉现实系统
CN115380264A (zh) 用于大规模环境的交叉现实系统
CN115398314A (zh) 使用多分辨率帧描述符进行地图处理的交叉现实系统
JP7711263B2 (ja) クロスリアリティシステム
US12100181B2 (en) Computationally efficient method for computing a composite representation of a 3D environment

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
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20221115