Methods and apparatuses for determining positions of multi-directional image capture apparatuses
First Claim
1. A method comprising:
- in response to a movement of a first multi-directional image capture apparatus to a changed position;
performing image re-projection on a plurality of first images of a scene to generate a plurality of re-projected second images of the scene, wherein each first image of the scene is captured by a respective camera of the first multi-directional image capture apparatus and each second image of the scene is associated with a respective virtual camera of a plurality of virtual cameras;
processing the plurality of re-projected second images based on a previously generated virtual three dimensional model of the scene to generate respective positions of the virtual cameras associated with the second images; and
determining a new position of the first multi-directional image capture apparatus based on both the movement of the first multi-directional image capture apparatus and on one or more of the generated respective positions of the virtual cameras, wherein the new position corresponds to the changed position of the first multi-directional image capture apparatus;
wherein determining the new position of the first multi-directional image capture apparatus based on one or more of the generated positions of the virtual cameras comprises;
determining inliers in the generated respective positions of the virtual cameras; and
determining the new position of the first multi-directional image capture apparatus based on the inliers;
wherein the new position of the first multi-directional image capture apparatus is determined as a position vector of the first multi-directional image capture apparatus in a reference coordinate system, wherein the position vector of the first multi-directional image capture apparatus in the reference coordinate system is determined by taking a difference between a position vector of at least one camera and a position vector of the at least one camera relative to the first multi-directional image capture apparatus.
1 Assignment
0 Petitions
Accused Products
Abstract
A method comprising performing image re-projection on each of a plurality of first images of a scene, thereby to generate a plurality of re-projected second images of the scene, wherein each first image of the scene is captured by a respective camera of a first multi-directional image capture apparatus and each second image of the scene is associated with a respective virtual camera; processing the plurality of second images based on a previously generated virtual three dimensional model of the scene, thereby to generate respective positions of the virtual cameras associated with the second images; and determining a position of the first multi-directional image capture apparatus based on one or more of the generated positions of the virtual cameras.
9 Citations
17 Claims
-
1. A method comprising:
-
in response to a movement of a first multi-directional image capture apparatus to a changed position; performing image re-projection on a plurality of first images of a scene to generate a plurality of re-projected second images of the scene, wherein each first image of the scene is captured by a respective camera of the first multi-directional image capture apparatus and each second image of the scene is associated with a respective virtual camera of a plurality of virtual cameras; processing the plurality of re-projected second images based on a previously generated virtual three dimensional model of the scene to generate respective positions of the virtual cameras associated with the second images; and determining a new position of the first multi-directional image capture apparatus based on both the movement of the first multi-directional image capture apparatus and on one or more of the generated respective positions of the virtual cameras, wherein the new position corresponds to the changed position of the first multi-directional image capture apparatus; wherein determining the new position of the first multi-directional image capture apparatus based on one or more of the generated positions of the virtual cameras comprises; determining inliers in the generated respective positions of the virtual cameras; and determining the new position of the first multi-directional image capture apparatus based on the inliers; wherein the new position of the first multi-directional image capture apparatus is determined as a position vector of the first multi-directional image capture apparatus in a reference coordinate system, wherein the position vector of the first multi-directional image capture apparatus in the reference coordinate system is determined by taking a difference between a position vector of at least one camera and a position vector of the at least one camera relative to the first multi-directional image capture apparatus. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 17)
-
-
9. An apparatus comprising:
-
at least one processor; and at least one memory including computer program code, which when executed by the at least one processor, causes the apparatus to; in response to a movement of a first multi-directional image capture apparatus to a changed position; perform image re-projection on a plurality of first images of a scene to generate a plurality of re-projected second images of the scene, wherein each first image of the scene is captured by a respective camera of the first multi-directional image capture apparatus and each second image of the scene is associated with a respective virtual camera of a plurality of virtual cameras; process the plurality of re-projected second images based on a previously generated virtual three dimensional model of the scene to generate respective positions of the virtual cameras associated with the second images; and determine a new position of the first multi-directional image capture apparatus based on both the movement of the first multi-directional image capture apparatus and on one or more of the generated respective positions of the virtual cameras, wherein the new position corresponds to the changed position of the first multi-directional image capture apparatus; wherein to determine the new position of the first multi-directional image capture apparatus based on one or more of the generated positions of the virtual cameras, the apparatus is further caused to; determine inliers in the generated respective positions of the virtual cameras; and determine the new position of the first multi-directional image capture apparatus based on the inliers; wherein the new position of the first multi-directional image capture apparatus is determined as a position vector of the first multi-directional image capture apparatus in a reference coordinate system, wherein the position vector of the first multi-directional image capture apparatus in the reference coordinate system is determined by taking a difference between a position vector of at least one camera and a position vector of the at least one camera relative to the first multi-directional image capture apparatus. - View Dependent Claims (10, 11, 12, 13, 14, 15)
-
-
16. A non-transitory computer-readable medium having computer-readable code stored thereon, the computer readable code, when executed by at least one processor, causes an apparatus to:
-
in response to a movement of a first multi-directional image capture apparatus to a changed position; performing image re-projection on a plurality of first images of a scene to generate a plurality of re-projected second images of the scene, wherein each first image of the scene is captured by a respective camera of the first multi-directional image capture apparatus and each second image of the scene is associated with a respective virtual camera of a plurality of virtual cameras; processing the plurality of re-projected second images based on a previously generated virtual three dimensional model of the scene to generate respective positions of the virtual cameras associated with the second images; and determining a new position of the first multi-directional image capture apparatus based on both the movement of the first multi-directional image capture apparatus and on one or more of the generated respective positions of the virtual cameras, wherein the new position corresponds to the changed position of the first multi-directional image capture apparatus; wherein determining the new position of the first multi-directional image capture apparatus based on one or more of the generated positions of the virtual cameras comprises; determining inliers in the generated respective positions of the virtual cameras; and determining the new position of the first multi-directional image capture apparatus based on the inliers; wherein the new position of the first multi-directional image capture apparatus is determined as a position vector of the first multi-directional image capture apparatus in a reference coordinate system, wherein the position vector of the first multi-directional image capture apparatus in the reference coordinate system is determined by taking a difference between a position vector of at least one camera and a position vector of the at least one camera relative to the first multi-directional image capture apparatus.
-
Specification