Real time tracking of camera pose
First Claim
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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Abstract
The present invention is a system for real time tracking of position and orientation, termed "pose", of a remote camera. While remote cameras have been used on a regular basis to inspect machinery for wear or damage, knowing the exact location of a camera is difficult. Off-line feature extraction is employed with on-line pose determination. The feature extraction precomputes features from a CAD model of the object visible in a selected set of views. The on-line pose determination starts from an initial pose estimate, determines the visible model features, projects them into a two-dimensional image coordinate system, matches each to the current camera image, and uses the differences between the predicted and matched feature positions in a gradient descent technique to iteratively refine the pose estimate. The on-line portion of the system is designed to execute at video frame rates, providing a continual indication of borescope tip pose.
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Citations
6 Claims
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1. A system for determining a camera aperture position and orientation ("pose") within a subject comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification