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Real-time camera position estimation with drift mitigation in incremental structure from motion

  • US 10,269,147 B2
  • Filed: 05/01/2017
  • Issued: 04/23/2019
  • Est. Priority Date: 05/01/2017
  • Status: Active Grant
First Claim
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1. A method for camera position and point cloud estimation for three-dimensional (3D) reconstruction, comprising:

  • receiving images;

    attempting a first existing structure integration to integrate the images into an existing reconstruction under a sequential image reception assumption;

    if the first existing structure integration fails, attempting a dictionary overlap detection by accessing a dictionary database and searching to find a closest matching frame in the existing reconstruction;

    if overlaps are found, matching the images with the overlaps to determine a highest probability frame from the overlaps and attempting a second existing structure integration under the sequential image reception assumption;

    if overlaps are not found or the second existing structure integration fails, attempting bootstrapping based on the images; and

    if one of the first existing structure integration, the dictionary overlap detection, the second existing structure integration, or the bootstrapping succeeds, and if multiple disparate tracks have come to exist, attempting reconstructed track merging.

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