System and methods for world-scale camera pose estimation
First Claim
Patent Images
1. A method for determining the location or the orientation of a digital photograph, comprising the steps of:
- constructing a database of database images, points and feature descriptors;
receiving an input query image;
extracting features from the input query image to obtain image features;
matching image features to the database, wherein a match is a point in the input query image and a point in the database;
selecting one or more of a first subset of matches according to a randomized selection process, wherein each first subset of matches includes matches that co-occur more frequently in the database;
calculating one or more preliminary camera poses;
obtaining a second subset of matches;
determining the number of matches of the second subset of matches that agree with each of the one or more preliminary camera poses to obtain a number of agreeing matches for each of the one or more preliminary camera poses;
providing a best camera pose from the one or more preliminary camera poses, wherein the best camera pose is the preliminary camera pose with the largest number of agreeing matches;
deciding if the best camera pose exceeds a threshold of the number of agreeing matches; and
returning a final camera pose when the best camera pose exceeds the threshold of the number of agreeing matches.
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Abstract
System and methods for determining where a digital photograph was taken by estimating the camera pose with respect to a global scale three-dimensional database. Accurate location and orientation of the digital photograph is established through feature correspondence and geometry estimated from photograph collections.
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Citations
18 Claims
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1. A method for determining the location or the orientation of a digital photograph, comprising the steps of:
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constructing a database of database images, points and feature descriptors; receiving an input query image; extracting features from the input query image to obtain image features; matching image features to the database, wherein a match is a point in the input query image and a point in the database; selecting one or more of a first subset of matches according to a randomized selection process, wherein each first subset of matches includes matches that co-occur more frequently in the database; calculating one or more preliminary camera poses; obtaining a second subset of matches; determining the number of matches of the second subset of matches that agree with each of the one or more preliminary camera poses to obtain a number of agreeing matches for each of the one or more preliminary camera poses; providing a best camera pose from the one or more preliminary camera poses, wherein the best camera pose is the preliminary camera pose with the largest number of agreeing matches; deciding if the best camera pose exceeds a threshold of the number of agreeing matches; and returning a final camera pose when the best camera pose exceeds the threshold of the number of agreeing matches. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification