System and method of pose estimation
First Claim
Patent Images
1. A method comprising:
- receiving, from an image capture device, a first image frame of a sequence of image frames;
estimating, at a processor, a camera pose corresponding to the first image frame by comparing the first image frame to a second image frame, wherein the second image frame precedes the first image frame in the sequence of image frames;
selecting a first keyframe from a plurality of keyframes associated with the sequence of image frames, wherein the first keyframe is selected based on similarity of the camera pose corresponding to the first image frame to a camera pose corresponding to each of the plurality of keyframes; and
estimating, at the processor, a refined camera pose corresponding to the first image frame by comparing the first image frame to the first keyframe.
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Abstract
A method includes receiving, from an image capture device, a first image frame of a sequence of image frames. The method also includes estimating, at a processor, a camera pose corresponding to the first image frame by comparing the first image frame to a second image frame. The second image frame precedes the first image frame in the sequence of image frames. The method further includes estimating, at the processor, a refined camera pose corresponding to the first image frame by comparing the first image frame to a keyframe. The keyframe corresponds to a particular image frame that precedes the second image frame in the sequence of image frames.
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Citations
30 Claims
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1. A method comprising:
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receiving, from an image capture device, a first image frame of a sequence of image frames; estimating, at a processor, a camera pose corresponding to the first image frame by comparing the first image frame to a second image frame, wherein the second image frame precedes the first image frame in the sequence of image frames; selecting a first keyframe from a plurality of keyframes associated with the sequence of image frames, wherein the first keyframe is selected based on similarity of the camera pose corresponding to the first image frame to a camera pose corresponding to each of the plurality of keyframes; and estimating, at the processor, a refined camera pose corresponding to the first image frame by comparing the first image frame to the first keyframe. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An apparatus comprising
a processor; - and
a memory storing instruction that are executable by the processor to cause the processor to; receive, from an image capture device, a first image frame of a sequence of image frames; estimate a camera pose corresponding to the first image frame based on a first comparison of the first image frame to a second image frame, wherein the second image frame precedes the first image frame in the sequence of image frames; select a first keyframe from a plurality of keyframes associated with the sequence of image frames, wherein the first keyframe is selected based on similarity of the camera pose corresponding to the first image frame to a camera pose corresponding to each keyframe of the plurality of keyframes; and estimate a refined camera pose corresponding to the first image frame based on a second comparison of the first image frame to the first keyframe. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A non-transitory computer-readable storage device storing instructions that, when executed by a processor, cause the processor to:
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receive, from an image capture device, a first image frame of a sequence of image frame; estimate a camera pose corresponding to the first image frame based on a first comparison of the first image frame to a second image frame, wherein the second image frame precedes the first image frame in the sequence of image frames; select a first keyframe from a plurality of keyframes associated with the sequence of image frames, wherein the first keyframe is selected based on similarity of the camera pose corresponding to the first image frame to a camera pose corresponding to each keyframe of the plurality of keyframes; and estimate a refined camera pose corresponding to the first image frame based on a second comparison of the first image frame to the first keyframe. - View Dependent Claims (24, 25)
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26. An apparatus comprising:
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means for receiving, from an image capture device, a first image frame of a sequence of image frames; means for estimating a camera pose corresponding to the first image frame based on a first comparison of the first image frame to a second image frame, wherein the second image frame precedes the first image frame in the sequence of image frames; means for selecting a first keyframe from a plurality of keyframes associated with the sequence of image frames, wherein the first keyframe is selected based on similarity of the camera pose corresponding to the first image frame to a camera pose corresponding to each keyframe of the plurality of keyframes; and means for estimating a refined camera pose corresponding to the first image frame based on a second comparison of the first image frame to the first keyframe. - View Dependent Claims (27, 28, 29, 30)
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Specification