3D feature descriptors with camera pose information
First Claim
1. In an electronic device comprising an imaging camera coupled to at least one processor and a datastore, a method comprising:
- determining, by the at least one processor, a first two-dimensional (2D) feature descriptor from a first image captured by an imaging camera in a first pose at a time of capture of the first image, the first pose including a first observation direction of the imaging camera; and
storing, at the datastore, a 3D feature descriptor having a plurality of entries, each entry configured to store a corresponding 2D feature descriptor, and wherein a first entry of the plurality of entries stores the first 2D feature descriptor and a representation of the first pose of the imaging camera;
wherein storing the 3D feature descriptor comprises indexing the first 2D feature descriptor in the plurality of entries of the 3D feature descriptor based on the first observation direction; and
wherein the representation of the first pose further includes at least one of;
a representation of a weather condition at the time of capture of the first image; and
a representation of an ambient light condition at the time of capture of the first image.
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Abstract
A method includes determining a first two-dimensional (2D) feature descriptor from a first image captured by an imaging camera in a first pose at a time of capture of the first image, the first pose including a first observation direction of the imaging camera. The method further includes storing, at an electronic device, a 3D feature descriptor including the first 2D feature descriptor and a representation of the first pose of the imaging camera. The method additionally includes determining a second 2D feature descriptor from a second image captured by the imaging camera in a second pose at a time of capture of the second image, the second pose including a second observation direction of the imaging camera. The method also includes storing the 3D feature descriptor with the second 2D feature descriptor and a representation of the second pose of the imaging camera.
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Citations
14 Claims
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1. In an electronic device comprising an imaging camera coupled to at least one processor and a datastore, a method comprising:
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determining, by the at least one processor, a first two-dimensional (2D) feature descriptor from a first image captured by an imaging camera in a first pose at a time of capture of the first image, the first pose including a first observation direction of the imaging camera; and storing, at the datastore, a 3D feature descriptor having a plurality of entries, each entry configured to store a corresponding 2D feature descriptor, and wherein a first entry of the plurality of entries stores the first 2D feature descriptor and a representation of the first pose of the imaging camera; wherein storing the 3D feature descriptor comprises indexing the first 2D feature descriptor in the plurality of entries of the 3D feature descriptor based on the first observation direction; and wherein the representation of the first pose further includes at least one of;
a representation of a weather condition at the time of capture of the first image; and
a representation of an ambient light condition at the time of capture of the first image. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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2. An electronic device comprising:
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an imaging camera to capture a first image; a set of one or more sensors to determine a first pose of the imaging camera at a time of capture of the first image, the first pose including a first observation direction of the imaging camera; a processor to determine and store a three-dimensional (3D) feature descriptor, the 3D feature descriptor having a plurality of entries, each entry configured to store a corresponding 2D feature descriptor, and wherein a first entry of the plurality of entries stores a first two-dimensional (2D) feature extracted from the first image and a representation of the first pose of the imaging camera, wherein the processor is to index the first 2D feature descriptor in the plurality of entries of the 3D feature descriptor based on the first observation direction; and wherein the representation of the first pose further includes at least one of;
a representation of a weather condition at the time of capture of the first image; and
a representation of an ambient light condition at the time of capture of the first image. - View Dependent Claims (3, 4, 5, 6, 7)
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Specification