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Real time tracking of camera pose

  • US 5,850,469 A
  • Filed: 11/04/1996
  • Issued: 12/15/1998
  • Est. Priority Date: 07/09/1996
  • Status: Expired due to Fees
First Claim
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1. A system for determining a camera aperture position and orientation ("pose") within a subject comprising:

  • a) a model memory having a prestored computer model of 3D structures of said subject;

    b) a sample point generator functioning to read the computer model, and create a plurality of sample points throughout the model;

    c) an image generator coupled to the sample point generator, which creates images of the 3D model structures as viewed from the sample point for a plurality of orientation angles, and for the plurality of sample points;

    d) a feature memory capable of storing information provided to it;

    e) a feature identifier for receiving images from the image generator, and identifying intensity gradients and their corresponding locations in the images, identifying which gradients are contiguous, and storing a plurality of the largest gradients, and their corresponding locations as features in the feature memory;

    f) an on-line pose determination subsystem, coupled to the feature memory, for acquiring live image frame of said subject, receiving selected features from the feature memory, and comparing the features to the live image frame to determine said adjusted camera aperture pose.

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