NON-MATCHING FEATURE-BASED VISUAL MOTION ESTIMATION FOR POSE DETERMINATION

摘要

A method for determining a pose of a camera includes obtaining both a first image of a scene and a second image of the scene, where both the first and second images are captured by the camera. A first set of features is extracted from the first image and a second set of features is extracted from the second set of features. The method includes calculating a value of a visual-motion parameter based on the first set of features and the second set of features without matching features of the first set with features of the second set. The method also includes determining the pose of the camera based, at least, on the value of the visual motion parameter.

主权项

1. A method for determining a pose of a camera, the method comprising:
obtaining a first image of a scene, wherein the first image is captured by the camera; obtaining a second image of a scene, wherein the second image is captured by the camera; extracting a first set of features from the first image; extracting a second set of features from the second image; calculating a value for a visual-motion parameter based on the first set of features and the second set of features without matching features of the first set with features of the second set; and determining the pose of the camera based, at least, on the value of the visual-motion parameter.