WO2000034803A3 - Vision-assisted camera pose determination - Google Patents

Vision-assisted camera pose determination Download PDF

Info

Publication number
WO2000034803A3
WO2000034803A3 PCT/US1999/027483 US9927483W WO0034803A3 WO 2000034803 A3 WO2000034803 A3 WO 2000034803A3 US 9927483 W US9927483 W US 9927483W WO 0034803 A3 WO0034803 A3 WO 0034803A3
Authority
WO
WIPO (PCT)
Prior art keywords
imaging device
motion
features
estimation process
scene
Prior art date
Application number
PCT/US1999/027483
Other languages
French (fr)
Other versions
WO2000034803A2 (en
Inventor
Jim Kain
Charlie Yates
Arthur Zwern
Sandor Fejes
Jinlong Chen
Marc Jablonski
Original Assignee
Geometrix Inc
Korbin Systems 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 Geometrix Inc, Korbin Systems Inc filed Critical Geometrix Inc
Priority to EP99971239A priority Critical patent/EP1068489A2/en
Priority to JP2000587206A priority patent/JP2002532770A/en
Publication of WO2000034803A2 publication Critical patent/WO2000034803A2/en
Publication of WO2000034803A3 publication Critical patent/WO2000034803A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves

Landscapes

  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Image Analysis (AREA)
  • Gyroscopes (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

A completely passive and self-contained system for determining pose information of a platform comprises a motion sensing device and an imaging device, operating together such that each of images generated from the imaging device corresponds to a set of motion data provided by the motion sensing device. The motion sensing device and the imaging device may be integrated and/or operate synchronously. The imaging device senses the surrounding scene from which features are extracted and tracked to determine the imaging device motion. Hence no advance information regarding the scene or no special scene preparation is required. Further, a statistic estimation process, such as the Kalman filter, is employed to assist the feature tracking. To determine the pose information, the features and the motion data propagated by a strapdown navigation process are provided to the statistic estimation process. Errors from the statistic estimation process are used to refine the features and the motion data.
PCT/US1999/027483 1998-11-20 1999-11-19 Vision-assisted camera pose determination WO2000034803A2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP99971239A EP1068489A2 (en) 1998-11-20 1999-11-19 Vision-assisted camera pose determination
JP2000587206A JP2002532770A (en) 1998-11-20 1999-11-19 Method and system for determining a camera pose in relation to an image

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US10929598P 1998-11-20 1998-11-20
US11001698P 1998-11-25 1998-11-25
US60/109,295 1998-11-25
US60/110,016 1998-11-25

Publications (2)

Publication Number Publication Date
WO2000034803A2 WO2000034803A2 (en) 2000-06-15
WO2000034803A3 true WO2000034803A3 (en) 2000-11-23

Family

ID=26806831

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1999/027483 WO2000034803A2 (en) 1998-11-20 1999-11-19 Vision-assisted camera pose determination

Country Status (3)

Country Link
EP (1) EP1068489A2 (en)
JP (1) JP2002532770A (en)
WO (1) WO2000034803A2 (en)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2233192B1 (en) * 2003-11-17 2006-10-16 Universidad De Granada DEVICE FOR DETECTION IN REAL TIME OF MOVING OBJECTS.
DE102004015111A1 (en) * 2004-03-27 2005-10-20 Fraunhofer Ges Forschung Determining position, orientation of navigating system, e.g. robot, involves determining parameters of translation, rotation transformations of distance measurement curve to determine characteristic associations between transformed curves
JP4961473B2 (en) * 2006-04-28 2012-06-27 ノキア コーポレイション calibration
JP4800163B2 (en) 2006-09-29 2011-10-26 株式会社トプコン Position measuring apparatus and method
US8346466B2 (en) 2009-11-11 2013-01-01 Northrop Grumman Guidance & Electronics Systems and methods for determining heading
CN101929863A (en) * 2010-08-19 2010-12-29 中国航空工业第六一八研究所 Real-time graph generation method for scene matching navigation technology
DE102011089593A1 (en) * 2011-12-22 2013-05-29 Deutsches Zentrum für Luft- und Raumfahrt e.V. Method for determining absolute outer orientation of camera system used in airplane, involves determining absolute outer orientation of camera system based on camera rotation angle and translation coordinates of position sensor
US9749524B1 (en) 2012-05-25 2017-08-29 Apple Inc. Methods and systems for determining a direction of a sweep motion
US9405972B2 (en) 2013-09-27 2016-08-02 Qualcomm Incorporated Exterior hybrid photo mapping
FR3028989B1 (en) * 2014-11-21 2020-07-17 Continental Automotive France METHOD FOR CALIBRATION OF THE EXTRINSIC PARAMETERS OF A CAMERA OF A MOTOR VEHICLE AND ASSOCIATED DRIVING ASSISTANCE SYSTEM
FR3032820B1 (en) * 2015-02-18 2017-02-10 Continental Automotive France METHOD FOR CALIBRATING A CAMERA MOUNTED ON THE WINDSHIELD OF A VEHICLE
CN105021092B (en) * 2015-06-30 2016-08-17 北京航天长征飞行器研究所 A kind of guidance information extracting method of strapdown homing target seeker
US10054445B2 (en) 2016-05-16 2018-08-21 Northrop Grumman Systems Corporation Vision-aided aerial navigation
US10116874B2 (en) 2016-06-30 2018-10-30 Microsoft Technology Licensing, Llc Adaptive camera field-of-view
US11466990B2 (en) 2016-07-22 2022-10-11 Regents Of The University Of Minnesota Square-root multi-state constraint Kalman filter for vision-aided inertial navigation system
EP3532869A4 (en) * 2016-10-26 2020-06-24 The Charles Stark Draper Laboratory, Inc. Vision-inertial navigation with variable contrast tracking residual
US11940277B2 (en) 2018-05-29 2024-03-26 Regents Of The University Of Minnesota Vision-aided inertial navigation system for ground vehicle localization
CN110411475A (en) * 2019-07-24 2019-11-05 南京航空航天大学 A kind of robot vision odometer assisted based on template matching algorithm and IMU
US11367212B2 (en) 2019-11-21 2022-06-21 Ford Global Technologies, Llc Vehicle pose detection with fiducial marker
CN111024072B (en) * 2019-12-27 2021-06-11 浙江大学 Satellite map aided navigation positioning method based on deep learning

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5422828A (en) * 1991-12-18 1995-06-06 Choate; William C. Method and system for image-sequence-based target tracking and range estimation
US5647015A (en) * 1991-12-11 1997-07-08 Texas Instruments Incorporated Method of inferring sensor attitude through multi-feature tracking
US5801970A (en) * 1995-12-06 1998-09-01 Martin Marietta Corporation Model-based feature tracking system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5647015A (en) * 1991-12-11 1997-07-08 Texas Instruments Incorporated Method of inferring sensor attitude through multi-feature tracking
US5422828A (en) * 1991-12-18 1995-06-06 Choate; William C. Method and system for image-sequence-based target tracking and range estimation
US5801970A (en) * 1995-12-06 1998-09-01 Martin Marietta Corporation Model-based feature tracking system

Also Published As

Publication number Publication date
EP1068489A2 (en) 2001-01-17
WO2000034803A2 (en) 2000-06-15
JP2002532770A (en) 2002-10-02

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