Method and system for obtaining pair-wise epipolar constraints and solving for panorama pose on a mobile device
First Claim
1. A computer implemented method for determining the location and orientation of panoramic images:
- receiving, by one or more computing devices, alignment data between a pair of panoramic images including a first panoramic image and second panoramic image, and original location data for the pair of panoramic images, wherein the original location data includes geographic location data including latitude and longitude coordinates corresponding to where the first panoramic image and the second panoramic image were captured;
calculating, by the one or more computing devices, a heading from the first panoramic image to the second panoramic image based on the original location data;
determining, by the one or more computing devices, relative orientations between the pair of panoramic images based on the alignment data and the heading;
optimizing, by the one or more computing devices, the original location data and the alignment data based on the relative orientations between the pair of panoramic images and the original location data, wherein optimizing includes calculating optimized relative orientations and optimized location data by minimizing costs for a location objective function and an orientation objective function;
replacing, by the one or more computing devices, the original location data and relative orientations with the optimized relative orientations and optimized location data.
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Abstract
Aspects of the disclosure generally relate to determining the location and orientation of panoramic images by a computing apparatus. One or more computing devices may receive alignment data between a first panoramic image and second panoramic image and original location data for the first panoramic image and the second panoramic image. The one or more computing devices may determine relative orientations between the pair of panoramic images based on the alignment data and calculate a heading from the first panoramic image to the second panoramic image based on the original location data. The location data and alignment data may be optimized by the one or more computing devices based on the relative orientations between the pair of panoramic images and the original location data. The one or more computing devices may replace the original location data and relative orientations with the optimized relative orientations and optimized location data.
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Citations
20 Claims
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1. A computer implemented method for determining the location and orientation of panoramic images:
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receiving, by one or more computing devices, alignment data between a pair of panoramic images including a first panoramic image and second panoramic image, and original location data for the pair of panoramic images, wherein the original location data includes geographic location data including latitude and longitude coordinates corresponding to where the first panoramic image and the second panoramic image were captured; calculating, by the one or more computing devices, a heading from the first panoramic image to the second panoramic image based on the original location data; determining, by the one or more computing devices, relative orientations between the pair of panoramic images based on the alignment data and the heading; optimizing, by the one or more computing devices, the original location data and the alignment data based on the relative orientations between the pair of panoramic images and the original location data, wherein optimizing includes calculating optimized relative orientations and optimized location data by minimizing costs for a location objective function and an orientation objective function; replacing, by the one or more computing devices, the original location data and relative orientations with the optimized relative orientations and optimized location data. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for determining the location and orientation of panoramic images, the system comprising:
one or more computing devices having one or more processors coupled to memory, the one or more processors being configured to; receive alignment data between a pair of panoramic images including a first panoramic image and second panoramic image, and original location data for the pair of panoramic images, wherein the original location data includes geographic location data including latitude and longitude coordinates corresponding to where the first panoramic image and the second panoramic image were captured; calculate a heading from the first panoramic image to the second panoramic image based on the original location data; determine relative orientations between the pair of panoramic images based on the alignment data and the heading; optimize the location data and the alignment data based on the relative orientations between the pair of panoramic images and the original location data, wherein optimizing includes calculating optimized relative orientations and optimized location data by minimizing costs for a location objective function and an orientation objective function; and replace the original location data and relative orientations with the optimized relative orientations and optimized location data. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A non-transitory computer-readable medium storing instructions, which when executed by one or more processors, cause the one or more processors to:
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receive alignment data between a pair of panoramic images including a first panoramic image and second panoramic image and original location data for the pair of panoramic images, wherein the original location data includes geographic location data including latitude and longitude coordinates corresponding to where the first panoramic image and the second panoramic image were captured; calculate a heading from the first panoramic image to the second panoramic image based on the original location data; determine relative orientations between the pair of panoramic images based on the alignment data and the heading; optimize the original location data and the alignment data based on the relative orientations between the pair of panoramic images and the original location data, wherein optimizing includes calculating optimized relative orientations and optimized location data by minimizing costs for a location objective function and an orientation objective function; and replace the original location data and relative orientations with the optimized relative orientations and optimized location data. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification