Method for determining the pose of a camera and for recognizing an object of a real environment
First Claim
1. A method for determining the pose of a camera relative to a real environment, said method comprising the following steps:
- taking at least one image of a real environment by means of a camera, the image containing at least part of a real object;
determining at least one parameter of an environmental situation;
performing a tracking method that evaluates information with respect to correspondences between features associated with the real object and corresponding features of the real object as it is contained in the image of the real environment, so as to obtain conclusions about the pose of the camera; and
performing the tracking method in accordance with the at least one parameter;
wherein calculation of an uncertainty is effected in determining the camera pose by determination of a distance measure of the at least one parameter of the environmental situation and known ideal parameters of the tracking method with respect to a known environmental situation.
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Accused Products
Abstract
A method for determining the pose of a camera (22, 32) relative to a real environment (40) comprises the following steps: taking at least one image (50) of a real environment by means of a camera (22, 32), the image containing at least part of a real object (41), performing a tracking method that evaluates information with respect to correspondences between features associated with the real object (41) and corresponding features of the real object (41) as it is contained in the image (50) of the real environment, so as to obtain conclusions about the pose of the camera (22, 32), determining at least one parameter of an environmental situation, and performing the tracking method in accordance with the at least one parameter. Analogously, the method can also be utilized in a method for recognizing an object of a real environment in an image taken by a camera.
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Citations
19 Claims
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1. A method for determining the pose of a camera relative to a real environment, said method comprising the following steps:
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taking at least one image of a real environment by means of a camera, the image containing at least part of a real object; determining at least one parameter of an environmental situation; performing a tracking method that evaluates information with respect to correspondences between features associated with the real object and corresponding features of the real object as it is contained in the image of the real environment, so as to obtain conclusions about the pose of the camera; and performing the tracking method in accordance with the at least one parameter; wherein calculation of an uncertainty is effected in determining the camera pose by determination of a distance measure of the at least one parameter of the environmental situation and known ideal parameters of the tracking method with respect to a known environmental situation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method for determining the pose of a camera relative to a real environment, said method comprising the following steps:
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taking at least one image of a real environment by means of a camera, the image containing at least part of a real object; determining at least one parameter of an environmental situation; performing a tracking method that evaluates information with respect to correspondences between features associated with the real object and corresponding features of the real object as it is contained in the image of the real environment, so as to obtain conclusions about the pose of the camera; and performing the tracking method in accordance with the at least one parameter; wherein the at least one parameter has an effect on minimum requirements with respect to successful retrieval of model data in the image, in particular determines a number of features associated with the real object, which are to be brought into conformity with corresponding features of the image of the real object in the image of the real environment. - View Dependent Claims (18)
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19. A method for determining the pose of a camera relative to a real environment, said method comprising the following steps:
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taking at least one image of a real environment by means of a camera, the image containing at least part of a real object; determining at least one parameter of an environmental situation; performing a tracking method that evaluates information with respect to correspondences between features associated with the real object and corresponding features of the real object as it is contained in the image of the real environment, so as to obtain conclusions about the pose of the camera; and performing the tracking method in accordance with the at least one parameter; wherein, by determining the camera pose, depth information with respect to at least one real object contained in the image is calculated, the depth information being used to blend in, in a display device, an occlusion model for occluding a real object, when virtual information superimposed on the real environment is occluded in the view by the real object to be occluded.
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Specification