Method for determining a location from images acquired of an environment with an omni-directional camera
First Claim
Patent Images
1. A method for determining a location and orientation in an environment, comprising, a processor for performing steps of the method, comprising the steps of:
- acquiring a real omni-directional image of an unknown skyline in the environment from an unknown location and unknown orientation in the environment;
synthesizing a set of virtual omni-directional images from a 3D model of the environment, wherein each virtual omni-directional image is associated with a known skyline, a known location and a known orientation; and
comparing the real omni-directional image with each virtual omni-directional images to determine a best matching virtual omni-directional image with the associated known location and orientation that correspond to the unknown location and orientation.
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Abstract
A location and orientation in an environment is determined by first acquiring a real omni-directional image of an unknown skyline in the environment. A set of virtual omni-directional images of known skylines are synthesized from a 3D model of the environment, wherein each virtual omni-directional image is associated with a known location and orientation. The real omni-directional image with each virtual omni-directional images to determine a best matching virtual omni-directional image with the associated known location and orientation.
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Citations
21 Claims
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1. A method for determining a location and orientation in an environment, comprising, a processor for performing steps of the method, comprising the steps of:
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acquiring a real omni-directional image of an unknown skyline in the environment from an unknown location and unknown orientation in the environment; synthesizing a set of virtual omni-directional images from a 3D model of the environment, wherein each virtual omni-directional image is associated with a known skyline, a known location and a known orientation; and comparing the real omni-directional image with each virtual omni-directional images to determine a best matching virtual omni-directional image with the associated known location and orientation that correspond to the unknown location and orientation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A system for determining a location and orientation in an environment, comprising:
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an omni-directional camera configured to acquire a real omni-directional image of an unknown skyline in the environment from an unknown location and unknown orientation in the environment; means for synthesizing a set of virtual omni-directional images from a 3D model of the environment, wherein each virtual omni-directional image is associated with a known skyline, a known location, and a known orientation; and means for comparing the real omni-directional image with each virtual omni-directional images to determine a best matching virtual omni-directional image with the associated known location and known orientation that correspond to the unknown location and unknown orientation.
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Specification