Camera pose estimation for 3D reconstruction
US9251590B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 24, 2013 |
| Grant date | Feb 2, 2016 |
| Priority date | — |
| Expiry date | Jan 24, 2033 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Camera pose estimation for 3D reconstruction is described, for example, to enable position and orientation of a depth camera moving in an environment to be tracked for robotics, gaming and other applications. In various embodiments, depth observations from the mobile depth camera are aligned with surfaces of a 3D model of the environment in order to find an updated position and orientation of the mobile depth camera which facilitates the alignment. For example, the mobile depth camera is moved through the environment in order to build a 3D reconstruction of surfaces in the environment which may be stored as the 3D model. In examples, an initial estimate of the pose of the mobile depth camera is obtained and then updated by using a parallelized optimization process in real time.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.