| 主权项 |
1. A method of generating a three-dimensional map of a region from successive images of the region captured from different camera poses, the map comprising a set of landmark points each defined by a three dimensional spatial position and image information associated with that three dimensional position, the method comprising:
capturing successive images of the region using a camera; designating, by one or more processors, a subset of the captured images as a set of keyframes each having respective sets of image position data representing image positions of landmark points detected as feature points in that image; in respect of a newly captured image, detecting, by the one or more processors, a position of the camera by detecting the position of landmark points in the newly captured image, the detecting step comprising:
generating, by the one or more processors, a prediction of the camera pose;selecting, by the one or more processors, an ordering of the landmark points; anddetecting, by the one or more processors, whether an image region of the newly captured image approximately matches an expected image position of a landmark point based on the predicted camera pose by detecting, for successive landmark points in the ordering, whether the image region is substantially identical to the image information associated with that landmark point; and refining, by the one or more processors, the prediction of the camera pose based on the detecting step; in which the selecting step comprises:
performing, by the one or more processors, a statistical test on the set of landmark points; andselecting, by the one or more processors, the ordering according to the results of the statistical test. |
