DETERMINING SCALE OF THREE DIMENSIONAL INFORMATION

摘要

This disclosure relates to a method in which points common to two or more of the images that appear to represent the same real world features are identified, and changes in the location of the points between respective images are used to deduce the motion of the camera and to find the position of the real world features in three dimensional space. In order to determine the scale of the three dimensional information, the position of a reference feature, whose actual distance from the camera is known, is found from the images. The reference feature is found by considering only candidate points selected from candidate points falling within a portion of the image corresponding to a part of the field of view of the camera. The scale is determined from the distance between the camera and the reference feature in the image and in real life.

主权项

1. A method, comprising:
receiving a sequence of images from a camera; identifying candidate points representing features common to two or more of the images; deriving three dimensional information from the images based on changes in position of candidate points between the images; identifying candidate points associated with a reference feature in the images; and determining a scale of the three dimensional information based on a distance between the camera and the reference feature, wherein identifying candidate points associated with the reference feature comprises selecting only from candidate points falling within a portion of the image corresponding to a part of the field of view of the camera.