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    • 48. 发明申请
    • MONOCULAR VISUAL SLAM WITH GENERAL AND PANORAMA CAMERA MOVEMENTS
    • 具有一般和全景相机运动的单眼视觉SLAM
    • US20140320593A1
    • 2014-10-30
    • US14151776
    • 2014-01-09
    • QUALCOMM Incorporated
    • Christian PirchheimDieter SchmalstiegGerhard Reitmayr
    • H04N13/02H04N5/232
    • H04N13/289G06T7/579H04N5/23238
    • Disclosed are a system, apparatus, and method for monocular visual simultaneous localization and mapping that handles general 6DOF and panorama camera movements. A 3D map of an environment containing features with finite or infinite depth observed in regular or panorama keyframes is received. The camera is tracked in 6DOF from finite, infinite, or mixed feature sets. Upon detection of a panorama camera movement towards unmapped scene regions, a reference panorama keyframe with infinite features is created and inserted into the 3D map. When panoramic camera movement extends toward unmapped scene regions, the reference keyframe is extended with further dependent panorama keyframes. Panorama keyframes are robustly localized in 6DOF with respect to finite 3D map features. Localized panorama keyframes contain 2D observations of infinite map features that are matched with 2D observations in other localized keyframes. 2D-2D correspondences are triangulated, resulting in new finite 3D map features.
    • 公开了用于单目视觉同时定位和映射的系统,装置和方法,其处理一般的6DOF和全景照相机移动。 接收包含在常规或全景关键帧中观察到的具有有限或无限深度的特征的环境的3D地图。 相机以6DOF从有限,无限或混合特征集进行跟踪。 一旦检测到全景照相机向未映射的场景区域移动,就会创建具有无限特征的参考全景关键帧并将其插入到3D地图中。 当全景相机移动延伸到未映射的场景区域时,参考关键帧将被扩展,并具有进一步的相关全景关键帧。 相对于有限的3D地图特征,全景关键帧在6DOF中稳健地定位。 本地化全景关键帧包含与其他局部关键帧中的2D观测相匹配的无限地图特征的2D观察。 2D-2D对应被三角测量,导致新的有限3D地图特征。