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2. 发明公开

EP3221844A1 LOCALISING PORTABLE APPARATUS 有权转让
标题翻译：本地便携设备
公开(公告)号：EP3221844A1
公开(公告)日：2017-09-27
申请号：EP15741283.4
申请日：2015-07-17
申请人： The Chancellor, Masters and Scholars of The University of Oxford
发明人： MADDERN, William, Paul , STEWART, Alexander, Douglas , NEWMAN, Paul Michael , PASCOE, Geoffrey Michael
IPC分类号： G06T7/00
摘要： A method of localizing portable apparatus (100) in an environment, the method comprising obtaining captured image data representing an image captured by an imaging device (106) associated with the portable apparatus, and obtaining mesh data representing a 3-dimensional textured mesh of at least part of the environment. The mesh data is processed to generate a plurality of synthetic images, each synthetic image being associated with a pose within the environment and being a simulation of an image that would be captured by the imaging device from that associated pose. The plurality of synthetic images is analyzed to find a said synthetic image similar to the captured image data, and an indication is provided of a pose of the portable apparatus within the environment based on the associated pose of the similar synthetic image.
摘要翻译：一种定位环境中的便携式装置的方法包括获得表示由与便携式装置相关联的成像装置捕获的图像的捕获的图像数据，并且获得表示至少部分环境的三维纹理化网格的网格数据。对网格数据进行处理以生成多个合成图像，每个合成图像与环境内的姿势相关联，并且是成像设备从该相关姿势捕获的图像的模拟。分析多个合成图像以找到类似于捕获的图像数据的所述合成图像，并且基于相似合成图像的相关联的姿态在环境内提供便携式设备的姿势的指示。网格数据可以使用表示由成像装置的透镜产生的失真的失真数据来处理，并且相似性测量可以涉及最小化成本函数，例如可能使用Broyden-Fletcher-Goldfarb-Shanno的归一化信息距离（NID）（BFGS）算法。

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