Method for determining the relative position of a first and a second imaging device and devices therefore

摘要

A method for determining the relative position and orientation of a first and a second imaging device by comparing the image of a commonly depicted object in a first and a second image of the first and the second imaging device respectively, wherein the first and the second imaging devices are adapted for providing first and second depth information respectively for the respective images and in which at least the first and the second depth information is used for the determination. Corresponding device are also disclosed.

主权项

1. A method comprising determining a relative position and orientation of a first and a second imaging device by comparing an image of a commonly depicted object in a first and a second image of said first and said second imaging device respectively, wherein said first and said second imaging devices are configured for providing first and second depth information respectively for said respective images and in which at least said first and said second depth information is used for said determination; and
a. determining a set of at least four reference points, said reference points recognizable on said first image and on said second image as projected reference points; b. determining virtual reference points by deriving a virtual position of said reference points with respect to said first imaging device by using said first depth information for the image of said reference points in said first image; c. setting a predetermined orientation of said first imaging device; d. deriving a position of said second imaging device with respect to said virtual reference points by using said second depth information of the image of said reference points in said second image; e. determining the orientation of said second imaging device by optimizing an alignment between the image of said reference points on said second image and the virtual reference points.