Visual tracking using panoramas on mobile devices
US9635251B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 20, 2011 |
| Grant date | Apr 25, 2017 |
| Priority date | — |
| Expiry date | Nov 27, 2032 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04N23/698
- WIPO fieldAudio-visual technology
- WIPO sectorElectrical engineering
Abstract
A mobile platform maps and tracks the orientation of the mobile platform in real-time as the mobile platform rotates. The mobile platform captures a plurality of camera images as the camera rotates and projects the plurality of camera images consecutively to a panoramic cylindrical map. The map is extended by projecting areas of any camera image that correspond to unmapped portions of the panoramic cylindrical map. Keypoints are extracted from mapped portions of the map and using the keypoints the orientation of the camera is determined. Accumulated error is removed when closing the panoramic cylindrical map by extending the map horizontally beyond 360 degrees to produce overlapping regions and extracting and matching keypoints from the overlapping regions. Additionally, an incorrect estimate of the initial orientation of the map may be corrected by determining the correct orientation and re-projecting the map onto a map with the correct orientation.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.