System and method of pose estimation

摘要

A method includes receiving, from an image capture device, a first image frame of a sequence of image frames. The method also includes estimating, at a processor, a camera pose corresponding to the first image frame by comparing the first image frame to a second image frame. The second image frame precedes the first image frame in the sequence of image frames. The method further includes estimating, at the processor, a refined camera pose corresponding to the first image frame by comparing the first image frame to a keyframe. The keyframe corresponds to a particular image frame that precedes the second image frame in the sequence of image frames.

主权项

1. A method comprising:
receiving, from an image capture device, a first image frame of a sequence of image frames; estimating, at a processor, a camera pose corresponding to the first image frame by comparing the first image frame to a second image frame, wherein the second image frame precedes the first image frame in the sequence of image frames; selecting a first keyframe from a plurality of keyframes associated with the sequence of image frames, wherein the first keyframe is selected based on similarity of the camera pose corresponding to the first image frame to a camera pose corresponding to each of the plurality of keyframes; and estimating, at the processor, a refined camera pose corresponding to the first image frame by comparing the first image frame to the first keyframe.