SCALE ESTIMATING METHOD USING SMART DEVICE

摘要

A scale estimating method through metric reconstruction of objects using a smart device is disclosed, in which the smart device is equipped with a camera for image capture and an inertial measurement unit (IMU). The scale estimating method is adapting a batch, vision-centric approach only using IMU to estimate the metric scale of a scene reconstructed by algorithm with Structure from Motion like (SfM) output. Monocular vision and noisy IMU can be integrated with the disclosed scale estimating method, in which a 3D structure of an object of interest up to an ambiguity in scale and reference frame can be resolved. Gravity data and a real-time heuristic algorithm for determining sufficiency of video data collection are utilized for improving upon scale estimation accuracy so as to be independent of device and operating system. Application of the scale estimation includes determining pupil distance and 3D reconstruction using video images.

主权项

1. A scale estimating method of an object for smart device, comprising:configuring the smart device with an inertial measurement unit (IMU) and a monocular vision system wherein the monocular vision system having at least one monocular camera to obtain a plurality of SfM camera motion matrices;performing temporal alignment for aligning a plurality of video signals captured from the at least one monocular camera with respect to a plurality of IMU signals from the IMU, wherein the IMU signals includes a plurality of gravity data, the video signals includes a gravity vector, the video signals are a plurality of camera accelerations, and the IMU signals are a plurality of IMU accelerations, the IMU measurements are spatially aligned with the camera coordinate frame; andperforming virtual 3D reconstruction of the object in a 3D space by producing a plurality of motion trajectories using the at least one monocular camera to be converging towards a scale estimate so that the 3D structure of the object is being scaled in the presence of noisy IMU, wherein a real-time heuristic algorithm is performed for determining as to when enough motion data for the smart device has been collected.