System and method for position determination
First Claim
Patent Images
1. A method of determining an estimate of the pose of a camera, the method comprising:
- storing a plurality of reference images corresponding to a respective plurality of camera poses, the images including a plurality of reference features;
storing a measure of three dimensional position information for the plurality of reference features;
obtaining a current camera image from the camera;
selecting one of the plurality of reference images as a current reference image based on the current camera image; and
providing an initial estimate of the pose of the camera based on the camera pose corresponding to the current reference image.
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Abstract
A method for determining the position and orientation of a camera, which may not rely on the use of special markers. A set of reference images may be stored, together with camera pose and feature information for each image. A first estimate of camera position is determined by comparing the current camera image with the set of reference images. A refined estimate can be obtained using features from the current image matched in a subset of similar reference images, and in particular, the 3D positions of those features. A consistent 3D model of all stored feature information need not be provided.
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Citations
35 Claims
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1. A method of determining an estimate of the pose of a camera, the method comprising:
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storing a plurality of reference images corresponding to a respective plurality of camera poses, the images including a plurality of reference features;
storing a measure of three dimensional position information for the plurality of reference features;
obtaining a current camera image from the camera;
selecting one of the plurality of reference images as a current reference image based on the current camera image; and
providing an initial estimate of the pose of the camera based on the camera pose corresponding to the current reference image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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32. A method of determining an estimate of the pose of a camera comprising:
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storing a plurality of reference images containing reference features and associated depth information, the images being associated with reference pose information;
obtaining a current camera image; and
deriving an estimate of the pose of the camera by comparing the current camera image to the reference images, wherein the estimated pose is based on the reference pose information and reference features for a plurality of reference images and associated depth information without resolving the reference images into a consistent three-dimensional model.
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33. A method of compiling a database of reference images for use in determining camera pose, the method comprising:
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storing a plurality of images from mutually different poses;
storing camera pose information for each image;
identifying reference features within the images; and
storing identifiers of the reference features and a measure of three dimensional position of the features. - View Dependent Claims (34, 35)
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Specification