Camera localization method and apparatus, terminal, and storage medium
US11210810B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 14, 2020 |
| Grant date | Dec 28, 2021 |
| Priority date | — |
| Expiry date | Jul 14, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A camera localization method includes: obtaining an environment map of a target environment, predicting a location of a camera when shooting a target image according to location information of the camera when shooting a history image before the target image is shot to obtain predicted location information of the camera; filtering out at least one feature point that is currently not observable by the camera in the environment map according to the predicted location information of the camera, location information of each feature point and viewing-angle area information of each feature point in the environment map; and matching the feature point in the target image with remaining feature points in the environment map after the filtering to obtain a feature point correspondence, and determining location information of the camera according to the feature point correspondence.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.