| 摘要 |
- 34 KEYFRAME SELECTION FOR PARALLEL TRACKING AND MAPPING 5 A method of selecting a first image from a plurality of images for constructing a coordinate system of an augmented reality system along with a second image, is disclosed. A first image feature in the first image corresponding to the feature of the marker associated with the first image is determined. The first image feature is determined based on a first pose of a camera (220) used to capture the first image. A second image feature in a second image ) is determined based on a second pose of a camera (220) used to capture the second image, said second image feature having a visual match to the first image feature. A reconstructed position of the feature of the marker is determined based on positions of the first and second image features, the first camera pose and the second camera pose. A reconstruction error is determined based on the reconstructed position of the feature of the marker and a pre 5 determined position of the marker. The first image is selected for constructing the coordinate system of the augmented reality system in an event that the determined reconstruction error indicates that the first pose and the second pose of cameras capturing said first and second images satisfies a pre-determined criterion for scene reconstruction. P015706_Final (5801140v1) Reconstruction Error Xmarker Due to calibration inaccuracy, Reconstructed position noise and motion blur, the of corner feature based camera poses are inaccurate. on matched features and relative camera pose Xreconst Projected corner / based on computed camera pose X x ' OL '-.- ----.. ---------------------- ------- ---- 0R Observed corner features Fig. 6 |
