Sensor-aided wide-area localization on mobile devices
First Claim
1. A method comprising:
- capturing an image of an environment with a camera;
receiving geographic orientation data associated with the image;
accessing a bin of model features from a database based on the geographic orientation data, wherein the model features are from a pre-generated three-dimensional model of the environment and are binned in the database based on geographic orientation of the model features;
extracting features from the image;
comparing the features extracted from the image to model features in the bin of model features to produce a set of corresponding features; and
using the set of corresponding features to determine a position and an orientation of the camera.
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Abstract
A mobile device uses vision and orientation sensor data jointly for six degree of freedom localization, e.g., in wide-area environments. An image or video stream is captured while receiving geographic orientation data and may be used to generate a panoramic cylindrical map of an environment. A bin of model features stored in a database is accessed based on the geographic orientation data. The model features are from a pre-generated reconstruction of the environment produced from extracted features from a plurality of images of the environment. The reconstruction is registered to a global orientation and the model features are stored in bins based on similar geographic orientations. Features from the panoramic cylindrical map are matched to model features in the bin to produce a set of corresponding features, which are used to determine a position and an orientation of the camera.
36 Citations
36 Claims
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1. A method comprising:
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capturing an image of an environment with a camera; receiving geographic orientation data associated with the image; accessing a bin of model features from a database based on the geographic orientation data, wherein the model features are from a pre-generated three-dimensional model of the environment and are binned in the database based on geographic orientation of the model features; extracting features from the image; comparing the features extracted from the image to model features in the bin of model features to produce a set of corresponding features; and using the set of corresponding features to determine a position and an orientation of the camera. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An apparatus comprising:
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a camera capable of capturing images of an environment; an orientation sensor capable of providing geographic orientation data; and a processor coupled to the camera and the orientation sensor, the processor configured to extract features from an image, determine a geographic orientation for each feature;
access a bin of model features for a database based on the geographic orientation of each feature, wherein the model features are from a pre-generated three-dimensional model of the environment and are binned in the database based on the geographic orientation of the model features;
compare the features extracted from the image to the bin of model features to produce a set of corresponding features; and
use the set of corresponding features to determine a position and an orientation of the camera. - View Dependent Claims (8, 9, 10, 11, 12)
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13. An apparatus comprising:
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means for capturing an image of an environment; means for receiving geographic orientation data associated with the image; means for accessing a bin of model features from a database based on the geographic orientation data, wherein the model features are from a pre-generated three-dimensional model of the environment and are binned in the database based on geographic orientation of the model features; means for extracting features from the image; means for comparing the features extracted from the image to model features in the bin of model features to produce a set of corresponding features; and means for using the set of corresponding features to determine a position and an orientation of the apparatus. - View Dependent Claims (14, 15, 16, 17)
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18. A non-transitory computer-readable medium including program code stored thereon, comprising:
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program code to receive geographic orientation data associated with an image of an environment captured with a camera; program code to access a bin of model features from a database based on the geographic orientation data, wherein the model features are from a pre-generated three-dimensional model of the environment and are binned in the database based on geographic orientation of the model features; program code to extract features from the image; program code to compare the features extracted from the image to model features in the bin of model features to produce a set of corresponding features; and program code to use the set of corresponding features to determine a position and an orientation of the camera. - View Dependent Claims (19, 20)
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21. A method comprising:
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obtaining a plurality of images of an environment; extracting features from the plurality of images; generating a reconstruction of the environment using the features; registering the reconstruction of the environment to a global orientation; associating a geographic orientation with each feature; and storing the reconstruction of the environment with the features binned together into a plurality of bins, wherein each bin is associated with a different predetermined range of geographic orientation. - View Dependent Claims (22, 23, 24)
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25. An apparatus comprising:
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a database; a processor coupled to the database, the processor being configured to generate a reconstruction of an environment using features extracted from a plurality of images of the environment, register the reconstruction of the environment to a global orientation, associate a geographic orientation with each feature; and
store in the database the reconstruction of the environment with the features binned together into a plurality of bins, wherein each bin is associated with a different predetermined range of geographic orientation. - View Dependent Claims (26, 27, 28)
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29. An apparatus comprising:
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means for obtaining a plurality of images of an environment; means for extracting features from the plurality of images; means for generating a reconstruction of the environment using the features; means for registering the reconstruction of the environment to global orientation; means for associating a geographic orientation with each feature; and means for storing the reconstruction of the environment with the features binned together into a plurality of bins, wherein each bin is associated with a different predetermined range of geographic orientation. - View Dependent Claims (30, 31, 32)
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33. A non-transitory computer-readable medium including program code stored thereon, comprising:
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program code to extracting features from a plurality of images of an environment; program code to generate a reconstruction of the environment using the features; program code to register the reconstruction of the environment to global orientation; program code to associate a geographic orientation with each feature; and program code to store the reconstruction of the environment with the features binned together into a plurality of bins, wherein each bin is associated with a different predetermined range of geographic orientation. - View Dependent Claims (34, 35, 36)
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Specification