CAMERA POSE ESTIMATION FOR 3D RECONSTRUCTION
First Claim
1. A method of real-time camera tracking comprising:
- receiving a sequence of depth map frames from a moving mobile depth camera each depth map frame comprising a depth value at each image element that depth value being related to a distance from the mobile depth camera to a surface in the environment captured by the mobile depth camera;
accessing a 3D model of surfaces in the environment;
tracking the position and orientation of the mobile depth camera by computing, for each of a plurality of the depth map frames, an updated position and orientation of the mobile depth camera according to an alignment of the image elements of the depth map frame and a surface depicted in the 3D model of the environment.
5 Assignments
0 Petitions
Accused Products
Abstract
Camera pose estimation for 3D reconstruction is described, for example, to enable position and orientation of a depth camera moving in an environment to be tracked for robotics, gaming and other applications. In various embodiments, depth observations from the mobile depth camera are aligned with surfaces of a 3D model of the environment in order to find an updated position and orientation of the mobile depth camera which facilitates the alignment. For example, the mobile depth camera is moved through the environment in order to build a 3D reconstruction of surfaces in the environment which may be stored as the 3D model. In examples, an initial estimate of the pose of the mobile depth camera is obtained and then updated by using a parallelized optimization process in real time.
125 Citations
20 Claims
-
1. A method of real-time camera tracking comprising:
-
receiving a sequence of depth map frames from a moving mobile depth camera each depth map frame comprising a depth value at each image element that depth value being related to a distance from the mobile depth camera to a surface in the environment captured by the mobile depth camera; accessing a 3D model of surfaces in the environment; tracking the position and orientation of the mobile depth camera by computing, for each of a plurality of the depth map frames, an updated position and orientation of the mobile depth camera according to an alignment of the image elements of the depth map frame and a surface depicted in the 3D model of the environment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A real-time camera tracker comprising:
-
a communications interface arranged to receive a sequence of depth map frames from a moving mobile depth camera each depth map frame comprising a depth value at each image element that depth value being related to a distance from the mobile depth camera to a surface in the environment captured by the mobile depth camera; the communications interface being arranged to access a 3D model of surfaces in the environment; a camera pose engine arranged to track the position and orientation of the mobile depth camera by computing, for each of a plurality of the depth map frames, an updated position and orientation of the mobile depth camera according to an alignment of the image elements of the depth map frame and a surface depicted in the 3D model of the environment. - View Dependent Claims (12, 13, 14, 15, 16, 20)
-
-
17. A method of real-time camera tracking comprising:
-
receiving a sequence of depth map frames from a moving mobile depth camera each depth map frame comprising a depth value at each image element that depth value being related to a distance from the mobile depth camera to a surface in the environment captured by the mobile depth camera; accessing a signed distance function representing surfaces in the environment; tracking the position and orientation of the mobile depth camera by computing, for each of a plurality of the depth map frames, an updated position and orientation of the mobile depth camera on the basis of an alignment of the image elements of the depth map frame and at least part of the signed distance function. - View Dependent Claims (18, 19)
-
Specification