Information processing device, information processing method and program

摘要

An information processing device, including: a three-dimensional information generating section for obtaining position and attitude of a moving camera or three-dimensional positions of feature points by successively receiving captured images from different viewpoints, and updating status data using observation information which includes tracking information of the feature points, the status data including three-dimensional positions of the feature points within the images and position and attitude information of the camera; and a submap generating section for generating submaps by dividing an area for which the three-dimensional position is to be calculated. The three-dimensional information generating section obtains position and attitude of the camera or three-dimensional positions of the feature points by generating status data corresponding to the submaps not including information about feature points outside of a submap area for each of the generated submaps and updating the generated status data corresponding to the submaps.

主权项

1. An information processing device, comprising:
at least one processor configured to:
obtain position and attitude of a camera and three-dimensional positions of feature points corresponding to successively received images from two or more different viewpoints, the images being captured using the camera, and the camera moving within a spacegenerate one or more submaps corresponding to an area for which the three-dimensional positions of the feature are to be calculated, the submaps are generated based on at least one of the number of captured frames or the capturing time;determine whether a number of feature points included within a first one of the submaps exceeds a predetermined threshold number; andwhen the number of feature points within the first submap exceeds the predetermined threshold number, divide the first submap into second and third submaps, the at least one processor configured to divide being further configured to:
identify a center of gravity of the feature points within the first submap;determine first displacements between the feature points the first submap and the identified center gravity; andassign the feature points of the first submap to the second submap or the third submap based on the first, displacements.