Camera pose estimation using obfuscated features
US10839556B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 23, 2018 |
| Grant date | Nov 17, 2020 |
| Priority date | — |
| Expiry date | Dec 27, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2215/16
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for estimating a camera pose includes recognizing a three-dimensional (3D) map representing a physical environment, the 3D map including 3D map features defined as 3D points. An obfuscated image representation is received, the representation derived from an original unobfuscated image of the physical environment captured by a camera. The representation includes a plurality of obfuscated features, each including (i) a two-dimensional (2D) line that passes through a 2D point in the original unobfuscated image at which an image feature was detected, and (ii) a feature descriptor that describes the image feature associated with the 2D point that the 2D line of the obfuscated feature passes through. Correspondences are determined between the obfuscated features and the 3D map features of the 3D map of the physical environment. Based on the determined correspondences, a six degree of freedom pose of the camera in the physical environment is estimated.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.