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1. 发明公开

EP2880626A1 LOCALISATION AND MAPPING 有权转让
标题翻译：定位与映射
公开(公告)号：EP2880626A1
公开(公告)日：2015-06-10
申请号：EP13745709.9
申请日：2013-07-25
申请人： Sony Computer Entertainment Europe Limited
发明人： MARTINI, Antonio
IPC分类号： G06T7/00
CPC分类号： G06T7/337 , A63F13/25 , A63F13/50 , A63F13/5378 , G06K9/00476 , G06K9/46 , G06K9/468 , G06K9/52 , G06T7/0008 , G06T7/13 , G06T7/246 , G06T7/55 , G06T7/73 , G06T7/74 , G06T15/10 , G06T17/05 , G06T19/006 , G06T2200/08 , G06T2207/10012 , G06T2207/10016 , G06T2207/20021 , G06T2207/30244 , G06T2215/16 , G06T2219/2004 , H04N7/18 , H04N13/207 , H04N13/211
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-adjustment to generate bundle-adjusted 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.
摘要翻译：一种从不同摄像机姿态捕获的该区域的连续图像产生区域的三维地图的方法，该地图包括一组每个由三维空间位置定义的界标点和与该三维位置相关联的图像信息，包括：捕获该区域的连续图像;检测捕获图像内的特征点;将捕获图像的子集指定为一组关键帧，每个关键帧具有指示相机姿态的相机姿态数据和表示相关姿势的相应组的测量数据作为该图像中的特征点;关于关键帧，通过迭代地改进地标的三维空间位置和与关键帧的至少一个子集相关联的相机姿态数据来执行束调整以生成束调整的界标点：（i）导出t中界标点的测量数据之间的差异关键帧和从相机姿态数据获得的相应图像位置以及该地标点的三维空间位置; （ii）调整一个或多个关键帧的相机姿态数据和一个或多个界标点的三维空间位置中的一个或两个，以减少检测到的差异; 对于不是关键帧并介于不是关键帧的另一中间图像中的介入图像处检测到的不与关于光束调整的界标点对应的特征点，生成与该特征点对应的非光束调整点; 并且使用非束调整点和束调整后的界标点来导出关于图像的相机姿态。

2. 发明授权

EP2880627B1 LOCALISATION AND MAPPING 有权转让
标题翻译：定位与映射
公开(公告)号：EP2880627B1
公开(公告)日：2016-08-31
申请号：EP13745710.7
申请日：2013-07-25
申请人： Sony Computer Entertainment Europe Limited
发明人： MARTINI, Antonio
IPC分类号： G06T7/00
CPC分类号： G06T7/337 , A63F13/25 , A63F13/50 , A63F13/5378 , G06K9/00476 , G06K9/46 , G06K9/468 , G06K9/52 , G06T7/0008 , G06T7/13 , G06T7/246 , G06T7/55 , G06T7/73 , G06T7/74 , G06T15/10 , G06T17/05 , G06T19/006 , G06T2200/08 , G06T2207/10012 , G06T2207/10016 , G06T2207/20021 , G06T2207/30244 , G06T2215/16 , G06T2219/2004 , H04N7/18 , H04N13/207 , H04N13/211
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-adjustment to generate bundle-adjusted 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.

3. 发明授权

EP2880626B1 LOCALISATION AND MAPPING 有权转让
标题翻译： LOKALISIERUNG UND KARTIERUNG
公开(公告)号：EP2880626B1
公开(公告)日：2016-08-31
申请号：EP13745709.9
申请日：2013-07-25
申请人： Sony Computer Entertainment Europe Limited
发明人： MARTINI, Antonio
IPC分类号： G06T7/20 , G06T7/00 , G06K9/00 , G06K9/46 , G06K9/52 , G06T15/10 , G06T17/05 , G06T19/00 , H04N7/18 , H04N13/02 , A63F13/5378
CPC分类号： G06T7/337 , A63F13/25 , A63F13/50 , A63F13/5378 , G06K9/00476 , G06K9/46 , G06K9/468 , G06K9/52 , G06T7/0008 , G06T7/13 , G06T7/246 , G06T7/55 , G06T7/73 , G06T7/74 , G06T15/10 , G06T17/05 , G06T19/006 , G06T2200/08 , G06T2207/10012 , G06T2207/10016 , G06T2207/20021 , G06T2207/30244 , G06T2215/16 , G06T2219/2004 , H04N7/18 , H04N13/207 , H04N13/211
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-adjustment to generate bundle-adjusted 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.
摘要翻译：一种方法从不同相机姿态捕获的区域的连续图像生成区域的三维图。该方法检测拍摄图像内的特征点，并将图像的子集指定为一组关键帧，每个关键帧具有相机姿态数据，并且表示测量数据的各组，表示作为该图像中的特征点检测的地标点的图像位置。该方法还包括执行捆绑调整以通过迭代地改进与至少一个关键帧的子集相关联的地标和相机姿态数据的三维空间位置来生成束调整的地标点。并且对于特征点，不对应于在不是关键帧并且存在于不是关键帧的另一中间图像中的中间图像处检测到的束调整的地标点，该方法生成对应于该特征点并导出相机姿态。

4. 发明公开

EP2880627A1 LOCALISATION AND MAPPING 有权转让
标题翻译：隔离，测绘
公开(公告)号：EP2880627A1
公开(公告)日：2015-06-10
申请号：EP13745710.7
申请日：2013-07-25
申请人： Sony Computer Entertainment Europe Limited
发明人： MARTINI, Antonio
IPC分类号： G06T7/00
CPC分类号： G06T7/337 , A63F13/25 , A63F13/50 , A63F13/5378 , G06K9/00476 , G06K9/46 , G06K9/468 , G06K9/52 , G06T7/0008 , G06T7/13 , G06T7/246 , G06T7/55 , G06T7/73 , G06T7/74 , G06T15/10 , G06T17/05 , G06T19/006 , G06T2200/08 , G06T2207/10012 , G06T2207/10016 , G06T2207/20021 , G06T2207/30244 , G06T2215/16 , G06T2219/2004 , H04N7/18 , H04N13/207 , H04N13/211
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-adjustment to generate bundle-adjusted 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.

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