Key-frame selection for parallel tracking and mapping

摘要

A method of selecting a first image from a plurality of images for constructing a coordinate system of an augmented reality system. A first image feature in the first image corresponding to the feature of the marker is determined. A second image feature in a second image is determined based on a second pose of a camera, said second image feature having a visual match to the first image feature. A reconstructed position of the feature of the marker in a three-dimensional (3D) space is determined based on positions of the first and second image features, the first and the second camera pose. A reconstruction error is determined based on the reconstructed position of the feature of the marker and a pre-determined position of the marker.

主权项

1. A method of selecting a key image from a plurality of images to construct a coordinate system of an augmented reality system, the method comprising:
determining a first image feature in a first one of the plurality of images corresponding to a marker, wherein the first image feature is determined based on a first camera pose of a camera used to capture the first image at a first location; determining a second image feature in a second one of the plurality of images captured by the camera at a second location, wherein the second image feature is based on a second camera pose of the camera and the second image feature includes a visual match to the first image feature; determining a reconstructed position of the marker in a three dimensional (3D) space based on a position of the first image feature in the first image, a position of the second image feature in the second image, the first camera pose, and the second camera pose; determining a reconstruction error based on the determined reconstructed position of the marker and a pre-determined position of the marker in the 3D space; and selecting at least one of the first image and second image as the key image for constructing the coordinate system of the augmented reality system in an event that the determined reconstruction error satisfies a pre-determined criterion for constructing the coordinate system.