ZERO-BASELINE 3D MAP INITIALIZATION

摘要

A computer-implemented method, apparatus, computer readable medium and mobile device for initializing a 3-Dimensional (3D) map may include obtaining, from a camera, a single image of an urban outdoor scene and estimating an initial pose of the camera. An untextured model of a geographic region may be obtained. Line features from the single image may be extracted and the orientation may be determined with respect to the untextured model and using the extracted line features, the orientation of the camera in 3 Degrees of Freedom (3DOF). In response to determining the orientation of the camera, a translation in 3DOF with respect to the untextured model may be determined using the extracted line features. The 3D map may be initialized based on the determined orientation and translation.

主权项

1. A computer-implemented method of initializing a 3-Dimensional (3D) map, the method comprising:
obtaining, from a camera, a single image of an urban outdoor scene; estimating, from one or more device sensors, an initial pose of the camera; obtaining, based at least in part on the estimated initial pose, an untextured model of a geographic region that includes the urban outdoor scene; extracting a plurality of line features from the single image; determining, with respect to the untextured model and using the extracted line features, the orientation of the camera in 3 Degrees of Freedom (3DOF); determining, in response to determining the orientation of the camera, a translation in 3DOF with respect to the untextured model and using the extracted line features; and initializing the 3D map based on the determined orientation and translation.