LOCALISATION AND MAPPING
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专利名称：LOCALISATION AND MAPPING 发明人：MARTINI, Antonio 申请号：EP 1374 5709.9 申请日：20130725 公开号：EP2880626B1 公开日：20160831
摘要：A method generates a three-dimensional map of a region from successive images of the region captured from different camera poses. The method detects feature points within the captured images and designates a subset of the images as a set of keyframes each having camera pose data and respective sets of measurement data representing image positions of landmark points detected as feature points in that image. The method also includes performing bundle-adjustБайду номын сангаасent to generate bundleadjusted landmark points by iteratively refining the three dimensional spatial positions of the landmarks and the camera pose data associated with at least a subset of the keyframes. And for a feature point, not corresponding to a bundle-adjusted landmark point, detected at an intervening image which is not a keyframe and present in another intervening image which is not a keyframe, the method generates a non-bundle-adjusted point corresponding to that feature point and derives a camera pose.
申请人：SONY COMP ENTERTAINMENT EUROPE
地址：GB
国籍：GB
代理机构：D Young & Co LLP
更多信息请下载全文后查看
专利名称：LOCALISATION AND MAPPING 发明人：MARTINI, Antonio 申请号：EP 1374 5709.9 申请日：20130725 公开号：EP2880626B1 公开日：20160831
摘要：A method generates a three-dimensional map of a region from successive images of the region captured from different camera poses. The method detects feature points within the captured images and designates a subset of the images as a set of keyframes each having camera pose data and respective sets of measurement data representing image positions of landmark points detected as feature points in that image. The method also includes performing bundle-adjustБайду номын сангаасent to generate bundleadjusted landmark points by iteratively refining the three dimensional spatial positions of the landmarks and the camera pose data associated with at least a subset of the keyframes. And for a feature point, not corresponding to a bundle-adjusted landmark point, detected at an intervening image which is not a keyframe and present in another intervening image which is not a keyframe, the method generates a non-bundle-adjusted point corresponding to that feature point and derives a camera pose.
申请人：SONY COMP ENTERTAINMENT EUROPE
地址：GB
国籍：GB
代理机构：D Young & Co LLP
更多信息请下载全文后查看