Sensor calibration and position estimation based on vanishing point determination

摘要

Disclosed are systems, apparatus, devices, method, computer program products, and other implementations, including a method that includes capturing an image of a scene by an image capturing unit of a device that includes at least one sensor, determining relative device orientation of the device based, at least in part, on determined location of at least one vanishing point in the captured image of the scene, and performing one or more calibration operations for the at least one sensor based, at least in part, on the determined relative device orientation.

主权项

1. A method comprising:
capturing an image of a scene, by an image capturing unit of a device, the device further comprising at least one sensor; determining a location of at least one vanishing point in the captured image of the scene; determining a measured device orientation of the device based on one or more measurements performed by the at least one sensor of the device; and determining candidate positions of the device in a region including an area corresponding to the scene based, at least in part, on the location of the at least one vanishing point in the captured image of the scene, the measured device orientation, and orientation data associated with multiple areas within the region, wherein determining the candidate positions comprises determining candidate areas from the multiple areas within the region based on relative orientation of the device determined from the location of the at least one vanishing point in the captured image, and based on the measured device orientation, and wherein determining the candidate areas comprises determining candidate hallways in the area, with the area including multiple hallways associated with respective orientation values, based on the relative orientation of the device determined from the location of the at least one vanishing point in the captured image, and based on the measured device orientation.