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    • 5. 发明授权
      US09235894B2 Method for determining correspondences between a first and a second image, and method for determining the pose of a camera 有权
    • Method for determining correspondences between a first and a second image, and method for determining the pose of a camera
    • 用于确定第一和第二图像之间的对应关系的方法，以及用于确定相机姿态的方法
    • US09235894B2
    • 2016-01-12
    • US13982177
    • 2011-01-27
    • Selim Benhimane , Daniel Ulbricht
    • Selim Benhimane , Daniel Ulbricht
    • G06T7/00 , G06K9/62
    • G06K9/6211 , G06T7/337 , G06T7/70 , G06T7/74 , G06T2207/30244
    • A method for determining correspondences between a first and a second image, comprising the steps providing a first image and a second image of the real environment, defining a warping function between the first and second image, determining the parameters of the warping function between the first image and the second image by means of an image registration method, determining a third image by applying the warping function with the determined parameters to the first image, determining a matching result by matching the third image and the second image, and determining correspondences between the first and the second image using the matching result and the warping function with the determined parameters. The method may be used in a keyframe based method for determining the pose of a camera based on the determined correspondences.
    • 一种用于确定第一和第二图像之间的对应关系的方法，包括提供所述真实环境的第一图像和第二图像的步​​骤，定义所述第一和第二图像之间的扭曲函数，确定所述第一和第二图像之间的所述翘曲函数的参数 图像和第二图像，通过将具有确定的参数的翘曲函数应用于第一图像来确定第三图像，通过匹配第三图像和第二图像来确定匹配结果，以及确定第三图像之间的对应关系 第一和第二图像使用匹配结果和具有确定参数的翘曲函数。 该方法可以用于基于关键帧的方法，用于基于所确定的对应度来确定相机的姿态。
    • 基本信息 添加关注 加入工作空间 PDF全文 PDF下载 全文下载 相似专利 双屏查看 权利要求书 说明书全文 Espacenet 法律信息 同族专利 专利引用
    • 6. 发明申请
      US20110194731A1 METHOD OF DETERMINING REFERENCE FEATURES FOR USE IN AN OPTICAL OBJECT INITIALIZATION TRACKING PROCESS AND OBJECT INITIALIZATION TRACKING METHOD 有权
    • METHOD OF DETERMINING REFERENCE FEATURES FOR USE IN AN OPTICAL OBJECT INITIALIZATION TRACKING PROCESS AND OBJECT INITIALIZATION TRACKING METHOD
    • 确定用于光学对象初始化跟踪过程和对象初始化跟踪方法的参考特征的方法
    • US20110194731A1
    • 2011-08-11
    • US12977859
    • 2010-12-23
    • Selim BenHimane , Daniel Ulbricht
    • Selim BenHimane , Daniel Ulbricht
    • G06K9/00
    • G06K9/00624 , G06K9/6211 , G06T7/246 , G06T2207/30244
    • A method of determining reference features for use in an optical object initialization tracking process is disclosed, said method comprising the following steps: a) capturing at least one current image of a real environment or synthetically generated by rendering a virtual model of a real object to be tracked with at least one camera and extracting current features from the at least one current image, b) providing reference features adapted for use in an optical object initialization tracking process, c) matching a plurality of the current features with a plurality of the reference features, d) estimating at least one parameter associated with the current image based on a number of current and reference features which were matched, and determining for each of the reference features which were matched with one of the current features whether they were correctly or incorrectly matched, e) wherein the steps a) to d) are processed iteratively multiple times, wherein in step a) of every respective iterative loop a respective new current image is captured by at least one camera and steps a) to d) are processed with respect to the respective new current image, and f) determining at least one indicator associated to reference features which were correctly matched and/or to reference features which were incorrectly matched, wherein the at least one indicator is determined depending on how often the respective reference feature has been correctly matched or incorrectly matched, respectively.
    • 公开了一种确定用于光学对象初始化跟踪过程的参考特征的方法，所述方法包括以下步骤：a）捕获真实环境的至少一个当前图像或者通过将真实对象的虚拟模型呈现为合成地生成 跟踪至少一个相机并从所述至少一个当前图像中提取当前特征，b）提供适于在光学对象初始化跟踪过程中使用的参考特征，c）使多个当前特征与多个参考 特征，d）基于匹配的当前和参考特征的数量估计与当前图像相关联的至少一个参数，并且确定与当前特征之一匹配的每个参考特征，无论它们是正确还是不正确 匹配，e）其中步骤a）至d）被迭代地多次处理，其中在每个res的步骤a）中， 相关新的当前图像由至少一个照相机捕捉并且步骤a）至d）相对于相应的新的当前图像被处理，以及f）确定与正确匹配的参考特征相关联的至少一个指示符， /或参考不正确匹配的特征，其中至少一个指示符根据相应的参考特征分别被正确匹配或不正确匹配的频率来确定。
    • 基本信息 添加关注 加入工作空间 PDF全文 PDF下载 全文下载 相似专利 双屏查看 权利要求书 说明书全文 Global Dossier Espacenet 法律信息 同族专利 专利引用
    • 9. 发明申请
      US20140321705A1 METHOD OF DETERMINING REFERENCE FEATURES FOR USE IN AN OPTICAL OBJECT INITIALIZATION TRACKING PROCESS AND OBJECT INITIALIZATION TRACKING METHOD 有权
    • METHOD OF DETERMINING REFERENCE FEATURES FOR USE IN AN OPTICAL OBJECT INITIALIZATION TRACKING PROCESS AND OBJECT INITIALIZATION TRACKING METHOD
    • 确定用于光学对象初始化跟踪过程和对象初始化跟踪方法的参考特征的方法
    • US20140321705A1
    • 2014-10-30
    • US14304370
    • 2014-06-13
    • Selim BenHimane , Daniel Ulbricht
    • Selim BenHimane , Daniel Ulbricht
    • G06K9/00
    • G06K9/00624 , G06K9/6211 , G06T7/246 , G06T2207/30244
    • A method of determining reference features for use in an optical object initialization tracking process is disclosed, said method comprising the following steps: a) capturing at least one current image of a real environment or synthetically generated by rendering a virtual model of a real object to be tracked with at least one camera and extracting current features from the at least one current image, b) providing reference features adapted for use in an optical object initialization tracking process, c) matching a plurality of the current features with a plurality of the reference features, d) estimating at least one parameter associated with the current image based on a number of current and reference features which were matched, and determining for each of the reference features which were matched with one of the current features whether they were correctly or incorrectly matched, e) wherein the steps a) to d) are processed iteratively multiple times.
    • 公开了一种确定用于光学对象初始化跟踪过程的参考特征的方法，所述方法包括以下步骤：a）捕获真实环境的至少一个当前图像或者通过将真实对象的虚拟模型呈现为合成地生成 跟踪至少一个相机并从所述至少一个当前图像中提取当前特征，b）提供适于在光学对象初始化跟踪过程中使用的参考特征，c）使多个当前特征与多个参考 特征，d）基于匹配的当前和参考特征的数量来估计与当前图像相关联的至少一个参数，以及针对与当前特征之一匹配的每个参考特征确定它们是否正确或不正确 匹配，e）其中步骤a）至d）被迭代地多次处理。
    • 基本信息 添加关注 加入工作空间 PDF全文 PDF下载 全文下载 相似专利 双屏查看 权利要求书 说明书全文 Global Dossier Espacenet 法律信息 同族专利 专利引用
    • 10. 发明授权
      US08805002B2 Method of determining reference features for use in an optical object initialization tracking process and object initialization tracking method 有权
    • Method of determining reference features for use in an optical object initialization tracking process and object initialization tracking method
    • 确定用于光学对象初始化跟踪过程和对象初始化跟踪方法的参考特征的方法
    • US08805002B2
    • 2014-08-12
    • US12977859
    • 2010-12-23
    • Selim BenHimane , Daniel Ulbricht
    • Selim BenHimane , Daniel Ulbricht
    • G06K9/00 , G06K9/46 , G06T7/20 , G06K9/62
    • G06K9/00624 , G06K9/6211 , G06T7/246 , G06T2207/30244
    • A method of determining reference features for use in an optical object initialization tracking process is disclosed, said method comprising the following steps: a) capturing at least one current image of a real environment or synthetically generated by rendering a virtual model of a real object to be tracked with at least one camera and extracting current features from the at least one current image, b) providing reference features adapted for use in an optical object initialization tracking process, c) matching a plurality of the current features with a plurality of the reference features, d) estimating at least one parameter associated with the current image based on a number of current and reference features which were matched, and determining for each of the reference features which were matched with one of the current features whether they were correctly or incorrectly matched, e) wherein the steps a) to d) are processed iteratively multiple times, wherein in step a) of every respective iterative loop a respective new current image is captured by at least one camera and steps a) to d) are processed with respect to the respective new current image, and f) determining at least one indicator associated to reference features which were correctly matched and/or to reference features which were incorrectly matched, wherein the at least one indicator is determined depending on how often the respective reference feature has been correctly matched or incorrectly matched, respectively.
    • 公开了一种确定用于光学对象初始化跟踪过程的参考特征的方法，所述方法包括以下步骤：a）捕获真实环境的至少一个当前图像或者通过将真实对象的虚拟模型呈现为合成地生成 跟踪至少一个相机并从所述至少一个当前图像中提取当前特征，b）提供适于在光学对象初始化跟踪过程中使用的参考特征，c）使多个当前特征与多个参考 特征，d）基于匹配的当前和参考特征的数量估计与当前图像相关联的至少一个参数，并且确定与当前特征之一匹配的每个参考特征，无论它们是正确还是不正确 匹配，e）其中步骤a）至d）被迭代地多次处理，其中在每个res的步骤a）中， 相关新的当前图像由至少一个照相机捕捉并且步骤a）至d）相对于相应的新的当前图像被处理，以及f）确定与正确匹配的参考特征相关联的至少一个指示符， /或参考不正确匹配的特征，其中至少一个指示符根据相应的参考特征分别被正确匹配或不正确匹配的频率来确定。
    • 基本信息 添加关注 加入工作空间 PDF全文 PDF下载 全文下载 相似专利 双屏查看 权利要求书 说明书全文 Espacenet 法律信息 同族专利 专利引用
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