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Real-time camera tracking using depth maps

  • US 9,242,171 B2
  • Filed: 02/23/2013
  • Issued: 01/26/2016
  • Est. Priority Date: 01/31/2011
  • Status: Active Grant
First Claim
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1. A method of real-time camera tracking comprising:

  • receiving a sequence of depth map frames from a moving mobile depth camera, each of a plurality of the depth map frames comprising a plurality of depth values at a plurality of image elements, the plurality of depth values being related to a distance from the mobile depth camera to a surface in the scene captured by the mobile depth camera;

    tracking the position and orientation of the mobile depth camera by computing registration parameters for the plurality of the depth map frames, the registration parameters being parameters of a transformation for aligning a first depth map frame and a preceding depth map frame;

    wherein computing the registration parameters comprises using an iterative process to;

    identify corresponding points in pairs of depth map frames without computing shapes depicted within the pairs of depth map frames and by using a parallel computing unit to optimize an error metric applied to the identified corresponding points such that the error metric is applied a plurality of the identified corresponding points in parallel.

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