发明名称 |
Method for determining 3D poses using points and lines |
摘要 |
A three-dimensional (3D) pose of a 3D object in an environment is determined by extracting features from an image acquired of the environment by a camera. The features are matched to a 3D model of the environment to determine correspondences. A camera reference frame of the image and a world reference frame of the environment are transformed to a corresponding intermediate camera reference frame and a corresponding world reference frame using the correspondences. Geometrical constraints are applied to the intermediate camera reference frame and the intermediate world reference frame to obtain a constrained intermediate world reference frame and a constrained world reference frame. The 3D pose is then determined from parameters of the constrained intermediate world reference frame and the constrained world reference frame. |
申请公布号 |
US8442305(B2) |
申请公布日期 |
2013.05.14 |
申请号 |
US20100824828 |
申请日期 |
2010.06.28 |
申请人 |
RAMALINGAM SRIKUMAR;MITSUBISHI ELECTRIC RESEARCH LABORATORIES, INC. |
发明人 |
RAMALINGAM SRIKUMAR |
分类号 |
G06K9/00 |
主分类号 |
G06K9/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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