Camera pose estimation apparatus and method for augmented reality imaging

US8452080B2 · kind B2 · utility

Assignee

• Metaio GmbH · DE

Inventor

• Torbjørn Engedal · Bø, NO

Key dates

• Filing date: May 22, 2008
• Grant date: May 28, 2013
• Expiry date: Dec 4, 2029

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2207/30244
• WIPO field: Audio-visual technology
• WIPO sector: Electrical engineering

Abstract

An apparatus for providing an estimate for a 3D camera pose relative to a scene from 2D image data of 2D image frame provided by said camera. A candidate 2D key points detector determines candidate 2D key points from the 2D image frame. A detected 3D observations detector determines detected 3D observations from pre-recorded scene data and the candidate 2D key points. A detected 3D camera pose estimator determines a detected 3D camera pose estimate from the camera data, the detected 3D observations and the candidate 2D key points. A first storage stores the detected 2D candidate key points and the 2D image data, and outputs in response to a 3D camera pose estimate output previous 2D image data and candidate 2D key points related to a previous 3D camera pose estimate output. A second storage stores and outputs a previous 3D camera pose estimate. A tracked 3D observations detector determines tracked 3D observations from the 2D image data, the candidate 2D key points, the camera data, the previous 2D image data and candidate 2D key points, the previous 3D camera pose estimate and 3D scene model data. A pose estimate selector outputs a selected one of the detected camera pose estimate …