Method for determining the pose of a camera with respect to at least one real object

摘要

A method for determining the pose of a camera with respect to at least one real object, the method comprises the following steps: operating the camera (1) for capturing a 2-dimensional (or 3-dimensional) image (4) including at least a part of the real object (3), providing a transformation matrix (T) which includes information regarding a correspondence between 3-dimensional points (Pi*) associated with the real object (3) and corresponding 2-dimensional points (or 3-dimensional points) (p,) of the real object (5) as included in the 2-dimensional (or 3-dimensional) image (4), and determining an initial estimate of the transformation matrix (Tl) as an initial basis for an iterative minimization process used for iteratively refining the transformation matrix, determining a Jacobian matrix (J) which includes information regarding the initial estimate of the transformation matrix (Tl) and reference values of 3-dimensional points (Pi*) associated with the real object (3). Further, in the iterative minimization process, in each one of multiple iteration loops determining a respective updated version of the transformation matrix (T) based on a respective previous version of the transformation matrix (T) and based on the Jacobian matrix (J), wherein the Jacobian matrix is not updated during the iterative minimization process, and determining the pose of the camera (1) with respect to the real object (3) using the transformation matrix (T) determined at the end of the iterative minimization process. As a result, the camera pose can be calculated with rather low computational time.

主权项

1. A method for determining the pose of a camera with respect to at least one real object, the method comprising the steps of:
operating the camera for capturing a 2-dimensional image including at least a part of the real object; providing a transformation matrix (T) which includes information regarding a correspondence between 3-dimensional points (Pi*) associated with the real object and corresponding 2-dimensional points (pi) of the real object as included in the 2-dimensional image; determining an initial estimate of the transformation matrix (Tl) as an initial basis for an iterative minimization process used for iteratively refining the transformation matrix; determining a Jacobian matrix (J) which includes information regarding the initial estimate of the transformation matrix (Tl) and reference values of 3-dimensional points (Pi*) associated with the real object; in the iterative minimization process, in each one of multiple iteration loops determining a respective updated version of the transformation matrix (T) based on a respective previous version of the transformation matrix (T) and based on the Jacobian matrix (J), wherein the Jacobian matrix is not updated during the iterative minimization process; and determining the pose of the camera with respect to the real object using the transformation matrix (T) determined at the end of the iterative minimization process.