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Depth camera 3D pose estimation using 3D CAD models

  • US 10,552,981 B2
  • Filed: 01/16/2018
  • Issued: 02/04/2020
  • Est. Priority Date: 01/16/2017
  • Status: Active Grant
First Claim
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1. A method of real-time depth camera pose estimation comprising:

  • at a processor,receiving a sequence of depth map frames from a moving mobile depth camera, each depth map frame comprising a plurality of image elements, each image element being associated with a depth value related to a distance from the mobile depth camera to a surface in the scene captured by the mobile depth camera;

    tracking a 3D position and orientation of the mobile depth camera using the depth map frames and a 3D CAD model of the environment, the 3D position and orientation defining a pose of the mobile depth camera, the tracking involving storing the 3D position and orientation of the mobile depth camera in a storage device;

    computing, using an initial camera pose estimate, pairs of corresponding corner features between a current depth map frame and the 3D CAD model;

    updating the initial camera pose estimate by optimizing an error metric applied to the computed corresponding corner feature pairs;

    outputting the updated camera pose estimate; and

    wherein computing pairs of corresponding corner features using the initial camera pose estimate comprises;

    receiving the initial camera pose estimate, a current depth map, and 3D CAD model corners;

    identifying model corners predicted to be in a field of view of the mobile depth camera;

    projecting the current depth map onto the 3D CAD model using the initial camera pose estimate to generate a projected depth map;

    for each identified model corner,searching a surrounding area for corresponding corner candidates in the projected death map;

    selecting candidate corresponding corners according to a distance metric;

    generating four point corner features from the model and the depth map; and

    outputting the four point corner features.

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