WO2014203743A1 - Method for registering data using set of primitives - Google Patents
Method for registering data using set of primitives Download PDFInfo
- Publication number
- WO2014203743A1 WO2014203743A1 PCT/JP2014/065026 JP2014065026W WO2014203743A1 WO 2014203743 A1 WO2014203743 A1 WO 2014203743A1 JP 2014065026 W JP2014065026 W JP 2014065026W WO 2014203743 A1 WO2014203743 A1 WO 2014203743A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- primitives
- coordinate system
- plane
- point
- camera
- Prior art date
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
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- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Image Analysis (AREA)
- Processing Or Creating Images (AREA)
- Studio Devices (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201480034631.3A CN105339981B (en) | 2013-06-19 | 2014-05-30 | Method for using one group of primitive registration data |
JP2015561464A JP6228239B2 (en) | 2013-06-19 | 2014-05-30 | A method for registering data using a set of primitives |
DE112014002943.2T DE112014002943T5 (en) | 2013-06-19 | 2014-05-30 | Method of registering data using a set of primitives |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/921,296 | 2013-06-19 | ||
US13/921,296 US9420265B2 (en) | 2012-06-29 | 2013-06-19 | Tracking poses of 3D camera using points and planes |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2014203743A1 true WO2014203743A1 (en) | 2014-12-24 |
Family
ID=50979838
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2014/065026 WO2014203743A1 (en) | 2013-06-19 | 2014-05-30 | Method for registering data using set of primitives |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP6228239B2 (en) |
CN (1) | CN105339981B (en) |
DE (1) | DE112014002943T5 (en) |
WO (1) | WO2014203743A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10444021B2 (en) | 2016-08-04 | 2019-10-15 | Reification Inc. | Methods for simultaneous localization and mapping (SLAM) and related apparatus and systems |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6775969B2 (en) * | 2016-02-29 | 2020-10-28 | キヤノン株式会社 | Information processing equipment, information processing methods, and programs |
CN106780601B (en) * | 2016-12-01 | 2020-03-27 | 北京未动科技有限公司 | Spatial position tracking method and device and intelligent equipment |
EP3333538B1 (en) * | 2016-12-07 | 2020-09-09 | Hexagon Technology Center GmbH | Scanner vis |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4985516B2 (en) * | 2008-03-27 | 2012-07-25 | ソニー株式会社 | Information processing apparatus, information processing method, and computer program |
JP5310285B2 (en) * | 2009-06-12 | 2013-10-09 | 日産自動車株式会社 | Self-position estimation apparatus and self-position estimation method |
JP5580164B2 (en) * | 2010-10-18 | 2014-08-27 | 株式会社トプコン | Optical information processing apparatus, optical information processing method, optical information processing system, and optical information processing program |
US8711206B2 (en) * | 2011-01-31 | 2014-04-29 | Microsoft Corporation | Mobile camera localization using depth maps |
CN103123727B (en) * | 2011-11-21 | 2015-12-09 | 联想(北京)有限公司 | Instant location and map constructing method and equipment |
-
2014
- 2014-05-30 WO PCT/JP2014/065026 patent/WO2014203743A1/en active Application Filing
- 2014-05-30 JP JP2015561464A patent/JP6228239B2/en active Active
- 2014-05-30 DE DE112014002943.2T patent/DE112014002943T5/en active Pending
- 2014-05-30 CN CN201480034631.3A patent/CN105339981B/en active Active
Non-Patent Citations (6)
Title |
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ANDREW J DAVISON ET AL: "MonoSLAM: Real-Time Single Camera SLAM", IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, IEEE COMPUTER SOCIETY, USA, vol. 29, no. 6, 1 June 2007 (2007-06-01), pages 1052 - 1067, XP011179664, ISSN: 0162-8828, DOI: 10.1109/TPAMI.2007.1049 * |
BOLAN JIANG ET AL: "Camera tracking for augmented reality media", MULTIMEDIA AND EXPO, 2000. ICME 2000. 2000 IEEE INTERNATIONAL CONFEREN CE ON NEW YORK, NY, USA 30 JULY-2 AUG. 2000, PISCATAWAY, NJ, USA,IEEE, US, vol. 3, 30 July 2000 (2000-07-30), pages 1637 - 1640, XP010512822, ISBN: 978-0-7803-6536-0, DOI: 10.1109/ICME.2000.871084 * |
JAN WEINGARTEN ET AL: "3D SLAM using planar segments", INTELLIGENT ROBOTS AND SYSTEMS, 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON, IEEE, PI, 1 October 2006 (2006-10-01), pages 3062 - 3067, XP031006573, ISBN: 978-1-4244-0258-8 * |
P. HENRY ET AL: "RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments", THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, vol. 31, no. 5, 10 February 2012 (2012-02-10), pages 647 - 663, XP055120449, ISSN: 0278-3649, DOI: 10.1177/0278364911434148 * |
SEBASTIAN LIEBERKNECHT ET AL: "RGB-D camera-based parallel tracking and meshing", MIXED AND AUGMENTED REALITY (ISMAR), 2011 10TH IEEE INTERNATIONAL SYMPOSIUM ON, IEEE, 26 October 2011 (2011-10-26), pages 147 - 155, XP032201445, ISBN: 978-1-4577-2183-0, DOI: 10.1109/ISMAR.2011.6092380 * |
TAGUCHI YUICHI ET AL: "Point-plane SLAM for hand-held 3D sensors", 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA); 6-10 MAY 2013; KARLSRUHE, GERMANY, IEEE, US, 6 May 2013 (2013-05-06), pages 5182 - 5189, XP032506385, ISSN: 1050-4729, ISBN: 978-1-4673-5641-1, [retrieved on 20131013], DOI: 10.1109/ICRA.2013.6631318 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10444021B2 (en) | 2016-08-04 | 2019-10-15 | Reification Inc. | Methods for simultaneous localization and mapping (SLAM) and related apparatus and systems |
US11215465B2 (en) | 2016-08-04 | 2022-01-04 | Reification Inc. | Methods for simultaneous localization and mapping (SLAM) and related apparatus and systems |
Also Published As
Publication number | Publication date |
---|---|
DE112014002943T5 (en) | 2016-03-10 |
JP2016527574A (en) | 2016-09-08 |
CN105339981B (en) | 2019-04-12 |
JP6228239B2 (en) | 2017-11-08 |
CN105339981A (en) | 2016-02-17 |
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