| 摘要 |
A method and device is provided for acquiring an image to be positioned with a textured 3D model and aligning the acquired image with the model to obtain a new estimated pose while using texture information from the model. This allows the acquired image to be positioned with the 3D model using said new estimated pose. In one aspect, the aligning comprises rendering an image in the 3D model at an estimated pose and then aligning the acquired image with the rendered image. In another aspect, the aligning comprises projecting the acquired image onto the 3D model at an estimated pose and then aligning the projected acquired image with the textured 3D model. In yet another aspect, the aligning comprises projecting the acquired image onto the textured 3D model, rendering a first image in the original 3D model and a second image in the 3D model onto which the acquired image has been projected, and then aligning the first and second images. |
