Visual tracking using panoramas on mobile devices

摘要

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.

主权项

1. A method comprising:
capturing a plurality of camera images from a camera as the camera rotates; projecting the plurality of camera images consecutively to a panoramic cylindrical map, wherein the panoramic cylindrical map is extended by projecting areas of any camera image that correspond to unmapped portions of the panoramic cylindrical map; extracting keypoints from mapped portions of the panoramic cylindrical map; using the keypoints to determine an orientation of the camera while capturing the plurality of camera images; and using the orientation of the camera to assist in the projecting the plurality of camera images consecutively to the panoramic cylindrical map.