Prior informed pose and scale estimation
US11443455B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 15, 2020 |
| Grant date | Sep 13, 2022 |
| Priority date | — |
| Expiry date | Mar 10, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldAudio-visual technology
- WIPO sectorElectrical engineering
Abstract
A scale and pose estimation method for a camera system is disclosed. Camera data for a scene acquired by the camera system is received. A rotation prior parameter characterizing a gravity direction is received. A scale prior parameter characterizing scale of the camera system is received. A cost of a cost function is calculated for a similarity transformation that is configured to encode a scale and pose of the camera system. The cost of the cost function is influenced by the rotation prior parameter and the scale prior parameter. A solved similarity transformation is determined upon calculating a cost for the cost function that is less than a threshold cost. An estimated scale and pose of the camera system is output based on the solved similarity transformation.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.