Method and apparatus for computing error-bounded position and orientation of panoramic cameras in real-world environments
US8896660B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 30, 2003 |
| Grant date | Nov 25, 2014 |
| Priority date | — |
| Expiry date | Jan 20, 2029 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Techniques for computing error-bounded position and orientation (pose) of a panoramic camera in real-world environments. Such environments may include large interior spaces (e.g., buildings) A space may include multiple rooms. For example, a technique for capturing images associated with an environment includes the following steps/operations. First, respective placements of fiducials in the environment are determined so as to satisfy at least one constraint. Images are captured, with an image capture device (e.g., camera), associated with the environment with the fiducials placed therein. A pose estimation of the image capture device is then determined based on projections of the fiducials in the captured images. The pose estimation may be optimized so as to obtain an optimal pose per image. Also, the fiducial placements may be optimized so as to obtain optimal fiducial placements. Then at least one constraint may include a constraint associated with the number of visible fiducials, a constraint associated with a distance from a viewpoint to a fiducial, and/or a constraint associated with an angle subtended by pairs of fiducials.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.