发明名称 |
ESTIMATING DEVICE AND ESTIMATION METHOD |
摘要 |
An estimation method executed by a computer includes: extracting, from an image, a plurality of characteristic points satisfying a certain requirement regarding changes in gray levels between the plurality of characteristic points and surrounding points; identifying, as map points from the plurality of characteristic points, characteristic points existing on planes, by excluding corners of an object depicted on the image; extracting, from another image, another plurality of characteristic points satisfying the certain requirement; executing matching of the another plurality of characteristic points with the map points based on a region including the map points; and estimating, based on results of the matching, a position and an orientation of an imaging device while the another image is captured. |
申请公布号 |
US2016125617(A1) |
申请公布日期 |
2016.05.05 |
申请号 |
US201514850298 |
申请日期 |
2015.09.10 |
申请人 |
FUJITSU LIMITED |
发明人 |
YAMAGUCHI Nobuyasu |
分类号 |
G06T7/20;G06T7/00;G06K9/46;G06K9/62;H04N5/14;H04N13/02 |
主分类号 |
G06T7/20 |
代理机构 |
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代理人 |
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主权项 |
1. An estimation method executed by a computer, the estimation method comprising:
extracting, from an image, a plurality of characteristic points satisfying a certain requirement regarding changes in gray levels between the plurality of characteristic points and surrounding points; identifying, as map points from the plurality of characteristic points, characteristic points existing on planes, by excluding corners of an object depicted on the image; extracting, from another image, another plurality of characteristic points satisfying the certain requirement; executing matching of the another plurality of characteristic points with the map points based on a region including the map points; and estimating, based on results of the matching, a position and an orientation of an imaging device while the another image is captured. |
地址 |
Kawasaki-shi JP |