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Mobile Camera Localization Using Depth Maps

  • US 20120194644A1
  • Filed: 01/31/2011
  • Published: 08/02/2012
  • Est. Priority Date: 01/31/2011
  • Status: Active Grant
First Claim
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1. A method of real time camera relocalization comprising:

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

    tracking the position and orientation of the mobile depth camera using the depth map frames and simultaneously forming a 3D model of the environment in which the mobile depth camera is moving using the depth map frames;

    detecting a failure in the tracking of the position and orientation of the mobile depth camera; and

    relocalizing the mobile depth camera by recomputing its position and orientation using a current depth map captured by the mobile depth camera.

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