A METHOD AND APPARATUS FOR ESTIMATING A POSE OF AN IMAGING DEVICE

摘要

Embodiments relate to a method and a technical equipment for estimating a camera pose. The method comprises obtaining query binary feature descriptors for feature points in an image; placing a selected part of the obtained query binary feature descriptors into a query binary tree; and matching the query binary feature descriptors in the query binary tree to database binary feature descriptors of a database image to estimate a pose of a camera.