Method for determining a parameter set designed for determining the pose of a camera and/or for determining a three-dimensional structure of the at least one real object
US9208563B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 21, 2010 |
| Grant date | Dec 8, 2015 |
| Priority date | — |
| Expiry date | May 19, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for determining a parameter set which is designed to be used for determining the pose of a camera with regard to at least one real object and/or for determining a three-dimensional structure of the at least one real object, comprises the steps of providing a reference image including at least a part of the at least one real object, capturing at least one current image including at least a part of the at least one real object, providing an initial estimate of a parameter set which is including at least the three-dimensional translation in the common coordinate system between the pose of the camera when capturing the reference image and the pose of the camera when capturing the current image, and the depth of at least a first point of the at least one real object in the common coordinate system, and determining an update of the estimate of the parameter set by means of an iterative minimization process, wherein in the iterative minimization process a first set of pixels in the reference image is compared with a computed set of pixels in the current image and the computed set of pixels in the current image used for the comparison varies at each iteration.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.