KR101749017B1 - 주변 정보를 이용하는 스피드-업 탬플릿 매칭 - Google Patents

주변 정보를 이용하는 스피드-업 탬플릿 매칭 Download PDF

Info

Publication number
KR101749017B1
KR101749017B1 KR1020177000283A KR20177000283A KR101749017B1 KR 101749017 B1 KR101749017 B1 KR 101749017B1 KR 1020177000283 A KR1020177000283 A KR 1020177000283A KR 20177000283 A KR20177000283 A KR 20177000283A KR 101749017 B1 KR101749017 B1 KR 101749017B1
Authority
KR
South Korea
Prior art keywords
pose
camera
templates
template
image
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
KR1020177000283A
Other languages
English (en)
Korean (ko)
Other versions
KR20170008321A (ko
Inventor
후이 차오
라구라만 크리쉬나모르티
미르자에이 파라즈 모하마드
Original Assignee
퀄컴 인코포레이티드
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 퀄컴 인코포레이티드 filed Critical 퀄컴 인코포레이티드
Publication of KR20170008321A publication Critical patent/KR20170008321A/ko
Application granted granted Critical
Publication of KR101749017B1 publication Critical patent/KR101749017B1/ko
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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
    • G06K9/4604—
    • G06K9/6202—
    • 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
    • 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
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • G06K2209/25—
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/09—Recognition of logos
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/10—Recognition assisted with metadata

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Artificial Intelligence (AREA)
  • Computing Systems (AREA)
  • Databases & Information Systems (AREA)
  • Evolutionary Computation (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Image Analysis (AREA)
KR1020177000283A 2014-07-10 2015-06-03 주변 정보를 이용하는 스피드-업 탬플릿 매칭 Expired - Fee Related KR101749017B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US14/328,308 2014-07-10
US14/328,308 US9317921B2 (en) 2014-07-10 2014-07-10 Speed-up template matching using peripheral information
PCT/US2015/034049 WO2016007243A1 (en) 2014-07-10 2015-06-03 Speed-up template matching using peripheral information

Publications (2)

Publication Number Publication Date
KR20170008321A KR20170008321A (ko) 2017-01-23
KR101749017B1 true KR101749017B1 (ko) 2017-06-19

Family

ID=53404939

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020177000283A Expired - Fee Related KR101749017B1 (ko) 2014-07-10 2015-06-03 주변 정보를 이용하는 스피드-업 탬플릿 매칭

Country Status (6)

Country Link
US (1) US9317921B2 (enExample)
EP (1) EP3138078B1 (enExample)
JP (1) JP6273400B2 (enExample)
KR (1) KR101749017B1 (enExample)
CN (1) CN106471548B (enExample)
WO (1) WO2016007243A1 (enExample)

Families Citing this family (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9878447B2 (en) * 2015-04-10 2018-01-30 Microsoft Technology Licensing, Llc Automated collection and labeling of object data
US9652896B1 (en) * 2015-10-30 2017-05-16 Snap Inc. Image based tracking in augmented reality systems
US9984499B1 (en) 2015-11-30 2018-05-29 Snap Inc. Image and point cloud based tracking and in augmented reality systems
WO2017131735A1 (en) * 2016-01-29 2017-08-03 Hewlett Packard Enterprise Development Lp Image skew identification
US11385105B2 (en) * 2016-04-04 2022-07-12 Teledyne Flir, Llc Techniques for determining emitted radiation intensity
US10891502B1 (en) * 2017-01-19 2021-01-12 State Farm Mutual Automobile Insurance Company Apparatuses, systems and methods for alleviating driver distractions
US10319149B1 (en) 2017-02-17 2019-06-11 Snap Inc. Augmented reality anamorphosis system
US10074381B1 (en) 2017-02-20 2018-09-11 Snap Inc. Augmented reality speech balloon system
CN108734738B (zh) * 2017-04-18 2021-10-29 杭州海康威视数字技术股份有限公司 相机标定方法及装置
US10387730B1 (en) 2017-04-20 2019-08-20 Snap Inc. Augmented reality typography personalization system
US10169874B2 (en) * 2017-05-30 2019-01-01 International Business Machines Corporation Surface-based object identification
CN107330917B (zh) * 2017-06-23 2019-06-25 歌尔股份有限公司 移动目标的跟踪拍摄方法和跟踪设备
CN107516105B (zh) * 2017-07-20 2020-06-16 阿里巴巴集团控股有限公司 图像处理方法及装置
CN107369179B (zh) * 2017-07-31 2020-01-07 征图新视(江苏)科技股份有限公司 一种高精度图像定位方法
US10740974B1 (en) 2017-09-15 2020-08-11 Snap Inc. Augmented reality system
US10636137B1 (en) * 2017-10-23 2020-04-28 Amazon Technologies, Inc. System for determining object orientations in an image
US10970425B2 (en) * 2017-12-26 2021-04-06 Seiko Epson Corporation Object detection and tracking
WO2019164514A1 (en) * 2018-02-23 2019-08-29 Google Llc Transitioning between map view and augmented reality view
JP2021122079A (ja) * 2018-05-08 2021-08-26 ソニーグループ株式会社 情報処理装置、情報処理方法、及びプログラム
CN109582147B (zh) * 2018-08-08 2022-04-26 亮风台（上海）信息科技有限公司 一种用于呈现增强交互内容的方法以及用户设备
US10997760B2 (en) 2018-08-31 2021-05-04 Snap Inc. Augmented reality anthropomorphization system
US11972529B2 (en) 2019-02-01 2024-04-30 Snap Inc. Augmented reality system
US10547974B1 (en) * 2019-03-19 2020-01-28 Microsoft Technology Licensing, Llc Relative spatial localization of mobile devices
US10811055B1 (en) * 2019-06-27 2020-10-20 Fuji Xerox Co., Ltd. Method and system for real time synchronization of video playback with user motion
CN110414458B (zh) * 2019-08-01 2022-03-08 北京主线科技有限公司 基于平面标签和模板匹配的定位方法及装置
KR102782302B1 (ko) 2019-09-20 2025-03-17 삼성전자주식회사 위치 추정 장치 및 방법
US20210088770A1 (en) * 2019-09-24 2021-03-25 Fei Company Pose estimation using sematic segmentation
EP4220439A1 (en) * 2019-11-06 2023-08-02 Google LLC Use of image sensors to query real world for geo-reference information
CN111915608B (zh) * 2020-09-11 2023-08-15 北京百度网讯科技有限公司 建筑物提取方法、装置、设备和存储介质
CN112733773B (zh) * 2021-01-18 2024-07-16 上海商汤智能科技有限公司 一种对象检测方法、装置、计算机设备和存储介质
CN114536399B (zh) * 2022-01-07 2023-04-25 中国人民解放军海军军医大学第一附属医院 基于多个位姿标识的误差检测方法及机器人系统
CN116309815A (zh) * 2022-12-14 2023-06-23 哈尔滨工业大学 一种基于旋转参数的特征点加权不确定相机位姿估计方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008286756A (ja) 2007-05-21 2008-11-27 Canon Inc 位置姿勢計測装置及びその制御方法
US20090110267A1 (en) 2007-09-21 2009-04-30 The Regents Of The University Of California Automated texture mapping system for 3D models
JP2011215063A (ja) 2010-04-01 2011-10-27 Tottori Univ カメラ姿勢パラメータ推定装置

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030012410A1 (en) * 2001-07-10 2003-01-16 Nassir Navab Tracking and pose estimation for augmented reality using real features
DE10323915A1 (de) 2003-05-23 2005-02-03 Daimlerchrysler Ag Kamerabasierte Positionserkennung für ein Straßenfahrzeug
JP2005135014A (ja) * 2003-10-28 2005-05-26 Hitachi Kokusai Electric Inc 物体検出装置
JP4418225B2 (ja) * 2003-12-18 2010-02-17 オリンパス株式会社 情報呈示システム
JP2007011607A (ja) * 2005-06-29 2007-01-18 Mitsubishi Electric Corp 地図検索装置および携帯端末
JP2008035328A (ja) 2006-07-31 2008-02-14 Fujifilm Corp テンプレート生成装置、画像配置装置、変更テンプレート生成装置およびそのプログラム
US8401276B1 (en) 2008-05-20 2013-03-19 University Of Southern California 3-D reconstruction and registration
US20100262931A1 (en) 2009-04-10 2010-10-14 Rovi Technologies Corporation Systems and methods for searching a media guidance application with multiple perspective views
WO2011048497A2 (en) 2009-10-19 2011-04-28 National University Of Singapore Computer vision based hybrid tracking for augmented reality in outdoor urban environments
US8938257B2 (en) * 2011-08-19 2015-01-20 Qualcomm, Incorporated Logo detection for indoor positioning
WO2013086475A1 (en) 2011-12-08 2013-06-13 Cornell University System and methods for world-scale camera pose estimation
US9147122B2 (en) 2012-05-31 2015-09-29 Qualcomm Incorporated Pose estimation based on peripheral information

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008286756A (ja) 2007-05-21 2008-11-27 Canon Inc 位置姿勢計測装置及びその制御方法
US20090110267A1 (en) 2007-09-21 2009-04-30 The Regents Of The University Of California Automated texture mapping system for 3D models
JP2011215063A (ja) 2010-04-01 2011-10-27 Tottori Univ カメラ姿勢パラメータ推定装置

Also Published As

Publication number Publication date
JP6273400B2 (ja) 2018-01-31
EP3138078B1 (en) 2017-09-27
CN106471548A (zh) 2017-03-01
CN106471548B (zh) 2018-07-13
US9317921B2 (en) 2016-04-19
EP3138078A1 (en) 2017-03-08
US20160012593A1 (en) 2016-01-14
WO2016007243A1 (en) 2016-01-14
KR20170008321A (ko) 2017-01-23
JP2017520063A (ja) 2017-07-20

Similar Documents

Publication Publication Date Title
KR101749017B1 (ko) 주변 정보를 이용하는 스피드-업 탬플릿 매칭
US10134196B2 (en) Mobile augmented reality system
US10032286B2 (en) Tracking objects between images
KR101645613B1 (ko) 주변 정보에 기초한 포즈 추정
US11062475B2 (en) Location estimating apparatus and method, learning apparatus and method, and computer program products
US9953618B2 (en) Using a plurality of sensors for mapping and localization
JP6100380B2 (ja) 特に装置に係る視覚ベースの位置決めに使用される画像処理方法
US9121724B2 (en) 3D position tracking for panoramic imagery navigation
US10012509B2 (en) Utilizing camera to assist with indoor pedestrian navigation
JP2017520063A5 (enExample)
WO2013028359A1 (en) Logo detection for indoor positioning
JP7039535B2 (ja) 生成装置、生成方法、および生成プログラム
WO2022219780A1 (ja) 点検支援装置、点検支援システム、点検支援方法、及び点検支援プログラム
JP2019213061A (ja) 情報処理装置、その制御方法及びプログラム。

Legal Events

Date Code Title Description
A201 Request for examination
A302 Request for accelerated examination
P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

PA0302 Request for accelerated examination

St.27 status event code: A-1-2-D10-D17-exm-PA0302

St.27 status event code: A-1-2-D10-D16-exm-PA0302

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

T11-X000 Administrative time limit extension requested

St.27 status event code: U-3-3-T10-T11-oth-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

St.27 status event code: A-1-2-D10-D22-exm-PE0701

GRNT Written decision to grant
PR0701 Registration of establishment

St.27 status event code: A-2-4-F10-F11-exm-PR0701

PR1002 Payment of registration fee

St.27 status event code: A-2-2-U10-U12-oth-PR1002

Fee payment year number: 1

PG1601 Publication of registration

St.27 status event code: A-4-4-Q10-Q13-nap-PG1601

PC1903 Unpaid annual fee

St.27 status event code: A-4-4-U10-U13-oth-PC1903

Not in force date: 20200614

Payment event data comment text: Termination Category : DEFAULT_OF_REGISTRATION_FEE

PC1903 Unpaid annual fee

St.27 status event code: N-4-6-H10-H13-oth-PC1903

Ip right cessation event data comment text: Termination Category : DEFAULT_OF_REGISTRATION_FEE

Not in force date: 20200614

P22-X000 Classification modified

St.27 status event code: A-4-4-P10-P22-nap-X000

P22-X000 Classification modified

St.27 status event code: A-4-4-P10-P22-nap-X000

P22-X000 Classification modified

St.27 status event code: A-4-4-P10-P22-nap-X000