VISION-ASSISTED CAMERA POSE DETERMINATION

摘要

A completely passive and self-contained system for determining pose information of a platform comprises a motion sensing device and an imaging device, operating together such that each of images generated from the imaging device corresponds to a set of motion data provided by the motion sensing device. The motion sensing device and the imaging device may be integrated and/or operate synchronously. The imaging device senses the surrounding scene from which features are extracted and tracked to determine the imaging device motion. Hence no advance information regarding the scene or no special scene preparation is required. Further, a statistic estimation process, such as the Kalman filter, is employed to assist the feature tracking. To determine the pose information, the features and the motion data propagated by a strapdown navigation process are provided to the statistic estimation process. Errors from the statistic estimation process are used to refine the features and the motion data.