Camera Pose Correction
First Claim
1. A method for correcting an error in an estimated pose of a moveable camera, the camera being at least a part of a camera system that generates an output image on the basis of the camera pose, the method comprising:
- taking incremental pose measurements for the camera over time and estimating a pose of the camera using the incremental pose measurements, the estimated camera pose having an error;
determining a pose correction on the basis of the difference between an absolute pose measurement for the camera and the estimated camera pose;
monitoring a rate of change in the camera image caused by a change in the camera; and
periodically adjusting a parameter of the camera system based on the incremental pose measurements, the adjustment further being set in order to effect the pose correction so as to correct for the estimated camera pose error, the pose correction being effected at a rate based on the monitored rate of change in the camera image.
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Accused Products
Abstract
The invention concerns correcting an error in an estimated pose of a moveable camera. The camera is at least a part of a camera system that generates an output image on the basis of the camera pose. Incremental pose measurements for the camera are taken over time and a pose of the camera using the incremental pose measurements is estimated, the estimated camera pose having an error. A pose correction is determined on the basis of the difference between an absolute pose measurement for the camera and the estimated camera pose. A rate of change in the camera image caused by a change in the camera is monitored. A parameter of the camera system is periodically adjusted based on the incremental pose measurements. The adjustment is further set in order to effect the pose correction so as to correct for the estimated camera pose error and the pose correction is effected at a rate based on the monitored rate of change in the camera image.
17 Citations
13 Claims
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1. A method for correcting an error in an estimated pose of a moveable camera, the camera being at least a part of a camera system that generates an output image on the basis of the camera pose, the method comprising:
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taking incremental pose measurements for the camera over time and estimating a pose of the camera using the incremental pose measurements, the estimated camera pose having an error; determining a pose correction on the basis of the difference between an absolute pose measurement for the camera and the estimated camera pose; monitoring a rate of change in the camera image caused by a change in the camera; and periodically adjusting a parameter of the camera system based on the incremental pose measurements, the adjustment further being set in order to effect the pose correction so as to correct for the estimated camera pose error, the pose correction being effected at a rate based on the monitored rate of change in the camera image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A camera control system comprising:
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a camera system comprising a camera, the camera system being arranged to generate an output image on the basis of the camera pose; a first pose measurement device, arranged to take incremental pose measurements for the camera over time and to estimate a pose of the camera using the incremental pose measurements, the estimated camera pose having an error; an absolute pose measurement device, arranged to take an absolute pose measurement for the camera; a monitoring device, arranged to monitor a rate of change in the camera image caused by a change in the camera; and a controller arranged to determine a pose correction on the basis of the difference between the absolute pose measurement and the estimated camera pose and to periodically adjust a parameter of the camera system based on the incremental pose measurements, the adjustment further being set in order to effect the pose correction so as to correct for the estimated camera pose error, the pose correction being effected at a rate based on the monitored rate of change in camera image.
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Specification