| 摘要 |
Techniques for computing error-bounded position and orientation (pose) of a panoramic camera in real-world environments. Such environments may comprise large interior spaces (e.g., buildings), wherein a space may comprise multiple rooms. In one aspect of the invention, a technique for capturing images associated with an environment comprises the following steps/operations. First, respective placements of fiducials in the environment are determined so as to satisfy at least one constraint. Images are captured, with an image capture device (e.g., camera), associated with the environment with the fiducials placed therein. A pose estimation of the image capture device is then determined based on projections of the fiducials in the captured images. The pose estimation may be optimized so as to obtain an optimal pose per image. Also, the fiducial placements may be optimized so as to obtain optimal fiducial placements. Then at least one constraint may comprise a constraint associated with the number of visible fiducials, a constraint associated with a distance from a viewpoint to a fiducial, and/or a constraint associated with an angle subtended by pairs of fiducials.
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