发明名称 |
METHOD FOR ESTIMATING A CAMERA MOTION AND FOR DETERMINING A THREE-DIMENSIONAL MODEL OF A REAL ENVIRONMENT |
摘要 |
A method for estimating a camera motion and for determining a three-dimensional model of an environment, comprising the steps of: a. providing intrinsic parameters of a camera; b. providing a set of reference two-dimensional imaged points captured by the camera at a first camera pose and reference depth samples associated to the set of reference two-dimensional imaged points; c. determining a three-dimensional model of the environment using the reference depth samples and the intrinsic parameters; d. providing a set of current two-dimensional imaged points captured by the camera at a second camera pose and current depth samples associated to the set of current two-dimensional imaged points and determining a current three-dimensional model using the current depth samples and the intrinsic parameters; e. estimating a camera motion between the first camera pose and the second camera pose by means of an image registration method; f. determining based on the estimated camera motion a similarity measure between the three-dimensional model and the current three-dimensional model, and if it is determined that the similarity measure meets a first condition, updating the three-dimensional model of the environment using at least one point of the current three-dimensional model and adding the set of current two-dimensional imaged points to the set of reference two-dimensional imaged points. |
申请公布号 |
WO2013029675(A1) |
申请公布日期 |
2013.03.07 |
申请号 |
WO2011EP65007 |
申请日期 |
2011.08.31 |
申请人 |
METAIO GMBH;BENHIMANE, SELIM;LIEBERKNECHT, SEBASTIAN;HUBER, ANDREA |
发明人 |
BENHIMANE, SELIM;LIEBERKNECHT, SEBASTIAN;HUBER, ANDREA |
分类号 |
G06T7/00;G06T7/20;G06T17/00 |
主分类号 |
G06T7/00 |
代理机构 |
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