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System and method for image capture device pose estimation

  • US 10,546,385 B2
  • Filed: 02/23/2017
  • Issued: 01/28/2020
  • Est. Priority Date: 02/25/2016
  • Status: Active Grant
First Claim
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1. A method for estimating a plurality of image capture device poses, comprising:

  • using at least one hardware processor executing a code for;

    extracting a plurality of observed image features of a plurality of landmarks from a plurality of images captured by at least one image capture device from at least one pose, said plurality of landmarks calibrated with respect to a certain coordinate system;

    identifying among said plurality of observed image features at least one common observed image feature documented in at least some of said images;

    producing image feature scale values of said at least one common observed image feature by analyzing said at least some of said images;

    determining a plurality of estimated poses of said at least one image capture device with respect to said certain coordinate system by using said image feature scale values in calculating a minimal re-projection error between said plurality of observed image features and a plurality of predicted image features by using a scale re-projection error term in a bundle adjustment optimization calculation comprising at least one cost function which comprises at least one scale error term expressing a scale re-projection error using image feature scale information;

    wherein said at least one scale error term is computed by computing a difference between a measured image feature scale calculated by a feature detector, and a predicted feature scale computed using an image capture device focal length, a distance from said common observed image feature'"'"'s landmark to one of a plurality of estimated camera poses and a size estimate of said common observed image feature'"'"'s landmark; and

    outputting said plurality of estimated poses.

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