JP5946924B2 - シーン構造ベース自己姿勢推定 - Google Patents

シーン構造ベース自己姿勢推定 Download PDF

Info

Publication number
JP5946924B2
JP5946924B2 JP2014559896A JP2014559896A JP5946924B2 JP 5946924 B2 JP5946924 B2 JP 5946924B2 JP 2014559896 A JP2014559896 A JP 2014559896A JP 2014559896 A JP2014559896 A JP 2014559896A JP 5946924 B2 JP5946924 B2 JP 5946924B2
Authority
JP
Japan
Prior art keywords
camera
image
reference image
query
captured
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.)
Expired - Fee Related
Application number
JP2014559896A
Other languages
English (en)
Japanese (ja)
Other versions
JP2015513679A5 (enExample
JP2015513679A (ja
Inventor
クレメンス・アルト
ゲーアハルト・ライトマイヤー
ディーター・シュマルシュティーグ
Original Assignee
クアルコム，インコーポレイテッド
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 クアルコム，インコーポレイテッド filed Critical クアルコム，インコーポレイテッド
Publication of JP2015513679A publication Critical patent/JP2015513679A/ja
Publication of JP2015513679A5 publication Critical patent/JP2015513679A5/ja
Application granted granted Critical
Publication of JP5946924B2 publication Critical patent/JP5946924B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G06T7/00—Image analysis
    • 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)
  • Length Measuring Devices By Optical Means (AREA)
JP2014559896A 2012-03-02 2013-01-29 シーン構造ベース自己姿勢推定 Expired - Fee Related JP5946924B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201261606209P 2012-03-02 2012-03-02
US61/606,209 2012-03-02
US13/547,987 US8965057B2 (en) 2012-03-02 2012-07-12 Scene structure-based self-pose estimation
US13/547,987 2012-07-12
PCT/US2013/023669 WO2013130208A1 (en) 2012-03-02 2013-01-29 Scene structure-based self-pose estimation

Publications (3)

Publication Number Publication Date
JP2015513679A JP2015513679A (ja) 2015-05-14
JP2015513679A5 JP2015513679A5 (enExample) 2015-06-25
JP5946924B2 true JP5946924B2 (ja) 2016-07-06

Family

ID=49042864

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2014559896A Expired - Fee Related JP5946924B2 (ja) 2012-03-02 2013-01-29 シーン構造ベース自己姿勢推定

Country Status (6)

Country Link
US (1) US8965057B2 (enExample)
EP (1) EP2820618B1 (enExample)
JP (1) JP5946924B2 (enExample)
KR (1) KR101585521B1 (enExample)
CN (1) CN104145294B (enExample)
WO (1) WO2013130208A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016505809A (ja) * 2012-11-05 2016-02-25 クアルコム，インコーポレイテッド 適応型スケールおよび／または重力推定

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8942422B2 (en) * 2012-04-06 2015-01-27 Adobe Systems Incorporated Nonlinear self-calibration for structure from motion (SFM) techniques
US9317928B2 (en) 2012-04-06 2016-04-19 Adobe Systems Incorporated Detecting and tracking point features with primary colors
US10168871B2 (en) * 2013-09-16 2019-01-01 Rovi Guides, Inc. Methods and systems for presenting direction-specific media assets
US10037469B2 (en) 2013-12-10 2018-07-31 Google Llc Image location through large object detection
DE102014003284A1 (de) 2014-03-05 2015-09-10 Astrium Gmbh Verfahren zur Positions- und Lagebestimmung mittels virtueller Referenzbilder
US10484697B2 (en) * 2014-09-09 2019-11-19 Qualcomm Incorporated Simultaneous localization and mapping for video coding
WO2016155767A1 (en) * 2015-03-30 2016-10-06 Siemens Aktiengesellschaft Method and system for determining an orientation of a mobile device
GB2546954A (en) * 2015-04-17 2017-08-09 Cinime Asia Pacific Pte Ltd A location method and system
US9984301B2 (en) * 2015-04-20 2018-05-29 Qualcomm Incorporated Non-matching feature-based visual motion estimation for pose determination
US9996936B2 (en) * 2016-05-20 2018-06-12 Qualcomm Incorporated Predictor-corrector based pose detection
CA3021085A1 (en) * 2016-05-20 2017-11-23 Magic Leap, Inc. Method and system for performing convolutional image transformation estimation
US9965689B2 (en) * 2016-06-09 2018-05-08 Qualcomm Incorporated Geometric matching in visual navigation systems
CN107665231A (zh) * 2016-07-27 2018-02-06 优屏亚太私人有限公司 定位方法和系统
US10579741B2 (en) 2016-08-17 2020-03-03 International Business Machines Corporation Proactive input selection for improved machine translation
US10311330B2 (en) * 2016-08-17 2019-06-04 International Business Machines Corporation Proactive input selection for improved image analysis and/or processing workflows
CN109215077B (zh) * 2017-07-07 2022-12-06 腾讯科技（深圳）有限公司 一种相机姿态信息确定的方法及相关装置
CN107806861B (zh) * 2017-09-14 2020-03-06 中国人民解放军92859部队 一种基于本质矩阵分解的倾斜影像相对定向方法
FR3073655B1 (fr) * 2017-11-16 2019-10-18 Thales Procede de determination d'un vecteur vitesse visuel d'un engin mobile, produit programme d'ordinateur et systeme de determination associes
CN108010055B (zh) * 2017-11-23 2022-07-12 塔普翊海（上海）智能科技有限公司 三维物体的跟踪系统及其跟踪方法
US11393160B2 (en) 2018-03-23 2022-07-19 Intel Corporation Deep geometric model fitting
JP7148064B2 (ja) * 2018-10-25 2022-10-05 株式会社アイシン カメラパラメータ推定装置、カメラパラメータ推定方法、およびカメラパラメータ推定プログラム
EP3903285B1 (en) * 2018-12-26 2024-01-24 Elbit Systems Land and C4I Ltd. Methods and systems for camera 3d pose determination
CN113728293B (zh) * 2019-04-30 2024-08-20 谷歌有限责任公司 用于基于位所的设备控制的系统和界面
KR102316216B1 (ko) * 2019-11-12 2021-10-22 네이버랩스 주식회사 블라인드 워터마킹 기술을 이용한 카메라 기반 측위 방법 및 시스템
KR102383567B1 (ko) * 2019-12-16 2022-04-06 네이버랩스 주식회사 시각 정보 처리 기반의 위치 인식 방법 및 시스템
CN113689374B (zh) * 2020-05-18 2023-10-27 浙江大学 一种植物叶片表面粗糙度确定方法及系统
WO2022092511A1 (ko) * 2020-10-30 2022-05-05 에스케이텔레콤 주식회사 3차원 맵을 생성하는 방법 및 생성된 3차원 맵을 이용하여 사용자 단말의 포즈를 결정하는 방법
KR102692510B1 (ko) * 2021-12-02 2024-08-06 서울과학기술대학교 산학협력단 동적 프로젝션을 수행하는 장치
CN114387341B (zh) * 2021-12-16 2025-04-18 四川腾盾科技有限公司 通过单张航拍观测图像计算飞行器六自由度位姿的方法

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9229540B2 (en) 2004-01-30 2016-01-05 Electronic Scripting Products, Inc. Deriving input from six degrees of freedom interfaces
US7463778B2 (en) * 2004-01-30 2008-12-09 Hewlett-Packard Development Company, L.P Motion estimation for compressing multiple view images
GB2411532B (en) * 2004-02-11 2010-04-28 British Broadcasting Corp Position determination
CN101010560B (zh) * 2004-06-29 2012-08-08 索尼株式会社 信息处理设备和方法、以及信息处理系统
JP5403861B2 (ja) 2006-11-06 2014-01-29 キヤノン株式会社 情報処理装置、情報処理方法
JP2008185417A (ja) * 2007-01-29 2008-08-14 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
US20100045701A1 (en) 2008-08-22 2010-02-25 Cybernet Systems Corporation Automatic mapping of augmented reality fiducials
US8644551B2 (en) * 2009-10-15 2014-02-04 Flyby Media, Inc. Systems and methods for tracking natural planar shapes for augmented reality applications
US9495760B2 (en) 2010-09-20 2016-11-15 Qualcomm Incorporated Adaptable framework for cloud assisted augmented reality
EP2619605A1 (en) 2010-09-23 2013-07-31 Telefónica, S.A. Method and system for calculating the geo-location of a personal device
CN102034238B (zh) * 2010-12-13 2012-07-18 西安交通大学 基于光学成像测头和视觉图结构的多摄像机系统标定方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016505809A (ja) * 2012-11-05 2016-02-25 クアルコム，インコーポレイテッド 適応型スケールおよび／または重力推定

Also Published As

Publication number Publication date
EP2820618B1 (en) 2018-09-26
US8965057B2 (en) 2015-02-24
KR101585521B1 (ko) 2016-01-14
KR20140136016A (ko) 2014-11-27
WO2013130208A1 (en) 2013-09-06
JP2015513679A (ja) 2015-05-14
CN104145294A (zh) 2014-11-12
US20130230214A1 (en) 2013-09-05
EP2820618A1 (en) 2015-01-07
CN104145294B (zh) 2017-03-08

Similar Documents

Publication Publication Date Title
JP5946924B2 (ja) シーン構造ベース自己姿勢推定
US9031283B2 (en) Sensor-aided wide-area localization on mobile devices
CN103858148B (zh) 用于移动设备的平面映射和跟踪方法、装置及设备
JP5660648B2 (ja) マルチユーザ拡張現実におけるオンライン参照生成および追跡
US10134196B2 (en) Mobile augmented reality system
JP6215442B2 (ja) クライアント−サーバベースの動的検索
US10109104B2 (en) Generation of 3D models of an environment
CN111127524A (zh) 一种轨迹跟踪与三维重建方法、系统及装置
WO2018068678A1 (zh) 一种立体摄像机外部参数的确定方法及装置
JP2016526313A (ja) 総体的カメラ移動およびパノラマカメラ移動を使用した単眼視覚ｓｌａｍ
BR112015023345B1 (pt) Criação in situ de alvos planos de recurso natural
ES2923924T3 (es) Referenciación 3D
CN107683496B (zh) 用于3d地图的假设线地图绘制和验证
Li et al. 3D visual slam based on multiple iterative closest point
WO2024183891A1 (en) Method and system for obtaining a global camera pose of a camera which has produced an image
Mamatas et al. Using Inertial Measurements to Aid in Camera Intrinsic Parameter Estimation
CN117451052A (zh) 基于视觉和轮速计的定位方法、装置、设备及存储介质

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20150415

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20150415

A871 Explanation of circumstances concerning accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A871

Effective date: 20150415

A975 Report on accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A971005

Effective date: 20150508

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20150608

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20150908

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20151120

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20160219

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20160509

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20160601

R150 Certificate of patent or registration of utility model

Ref document number: 5946924

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

LAPS Cancellation because of no payment of annual fees