Method and apparatus for determining camera pose
First Claim
Patent Images
1. A method for determining a potential pose of an image capturing device, said potential pose having six degrees of freedom, the method comprising:
- receiving an image captured by said image capturing device, said image including images of at least;
a first known world point, a second known world point and a third known world point; and
imposing constraints on said potential pose in accordance with known relations of said image to said image capturing device, said imposing comprising;
enforcing constraints given by a first ray, a second ray and a third ray, where said first ray, said second ray and said third ray each project from said image capturing device to, respectively, said first known world point, said second known world point and said third known world point; and
determining at least one potential pose in accordance with said constraints.
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Abstract
A method and apparatus for determining camera pose characterized by six degrees of freedom (e.g., for use in computer vision systems) is disclosed. In one embodiment an image captured by the camera is received, and at least two constraints on the potential pose are enforced in accordance with known relations of the image to the camera, such that the potential pose is constrained to two remaining degrees of freedom. At least one potential pose is then determined in accordance with the remaining two degrees of freedom.
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Citations
23 Claims
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1. A method for determining a potential pose of an image capturing device, said potential pose having six degrees of freedom, the method comprising:
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receiving an image captured by said image capturing device, said image including images of at least;
a first known world point, a second known world point and a third known world point; and
imposing constraints on said potential pose in accordance with known relations of said image to said image capturing device, said imposing comprising;
enforcing constraints given by a first ray, a second ray and a third ray, where said first ray, said second ray and said third ray each project from said image capturing device to, respectively, said first known world point, said second known world point and said third known world point; and
determining at least one potential pose in accordance with said constraints. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A computer-readable medium having stored thereon a plurality of instructions, the plurality of instructions including instructions which, when executed by a processor, cause the processor to perform the steps of a method for determining a potential pose of an image capturing device, said potential pose having six degrees of freedom, the method comprising:
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receiving an image captured by said image capturing device, said image including images of at least;
a first known world point, a second known world point and a third known world point; and
enforcing constraints on said potential pose in accordance with known relations of said image to said image capturing device, said enforcing comprising;
enforcing constraints given by a first ray, a second ray and a third ray, where said first ray, said second ray and said third ray each project from said image capturing device to, respectively, said first known world point, said second known world point and said third known world point; and
determining at least one potential pose in accordance with said constraints. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. An apparatus for determining a potential pose of an image capturing device, said potential pose having six degrees of freedom, the apparatus comprising:
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means for receiving an image captured by said image capturing device, said image including images of at least;
a first known world point, a second known world point and a third known world point; and
means for enforcing constraints on said potential pose in accordance with known relations of said image to said image capturing device, said means for enforcing comprising;
means for enforcing constraints given by a first ray, a second ray and a third ray, where said first ray, said second ray and said third ray each project from said image capturing device to, respectively, said first known world point, said second known world point and said third known world point; and
means for determining at least one potential pose in accordance with said constraints.
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Specification