Method and computer program product of the simultaneous pose and points-correspondences determination from a planar model
US9524555B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 12, 2011 |
| Grant date | Dec 20, 2016 |
| Priority date | — |
| Expiry date | Aug 18, 2032 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04N13/239
- WIPO fieldAudio-visual technology
- WIPO sectorElectrical engineering
Abstract
A method and software for the simultaneous pose and points-correspondences determination from a planar model are disclosed. The method includes using a coarse pose estimation algorithm to obtain two possible coarse poses, and using each one of the two coarse poses as the initialization of the extended TsPose algorithm to obtain two candidate estimated poses; selecting one from the two candidate estimated poses based on the cost function value. Thus, The method solves the problem of pose redundancy in the simultaneous pose and points-correspondences determination from a planar model, i.e., the problem that the numbers of estimated poses increase exponentially as the iterations go. The disclosed embodiment is based on the coplanar points, and does not place restriction on the shape of a planar model. It performs well in a cluttered and occluded environment, and is noise-resilient in the presence of different levels of noise.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.