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1. 发明申请

WO2014020318A1 LOCALISATION AND MAPPING 审中-公开
标题翻译：本地化和映射
公开(公告)号：WO2014020318A1
公开(公告)日：2014-02-06
申请号：PCT/GB2013/051995
申请日：2013-07-25
申请人： SONY COMPUTER ENTERTAINMENT EUROPE LIMITED
发明人： CAMPBELL, Diarmid , 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 of generating a three-dimensional map of a region from successive images of that region captured from different camera poses, the map comprising a set of landmark points each defined by a three dimensional spatial position and image information associated with that three dimensional position comprises capturing successive images of the region;detecting a gravitational vertical direction in respect of each captured image; detecting feature points within the captured images;designating a subset of the captured images as a set of key frames each having respective sets of image position data representing image positions of landmark points detected as feature points in that image;in respect of an image captured at a relocalisation operation: (i) deriving a camera pose for that image from detected feature points in that image; (ii) rotating the gravitational vertical direction in respect of that image to the coordinates of a reference keyframe using the camera poses derived for that image and the reference keyframe; and (iii) comparing the rotated gravitational vertical direction with the actual gravitational vertical direction associated with the reference keyframe so as to detect a quality measure of that image.
摘要翻译：一种从不同摄像机姿势捕获的区域的连续图像生成区域的三维地图的方法，包括由三维空间位置定义的一组地标点和与该三维位置相关联的图像信息的地图包括捕获所述区域的连续图像;检测关于每个捕获图像的重力垂直方向; 检测所捕获的图像内的特征点;将捕获图像的子集指定为一组关键帧，每组关键帧具有表示作为该图像中的特征点检测的地标点的图像位置的图像位置数据的各组; 重新定位操作：（i）从该图像中的检测到的特征点导出该图像的相机姿态; （ii）使用针对该图像导出的摄像机姿势和参考关键帧将相对于该图像的重力垂直方向旋转到参考关键帧的坐标; 和（iii）将旋转的重力垂直方向与与参考关键帧相关联的实际重力垂直方向进行比较，以便检测该图像的质量测量。

2. 发明申请

WO2014020320A1 LOCALISATION AND MAPPING 审中-公开
标题翻译：本地化和映射
公开(公告)号：WO2014020320A1
公开(公告)日：2014-02-06
申请号：PCT/GB2013/051997
申请日：2013-07-25
申请人： SONY COMPUTER ENTERTAINMENT EUROPE LIMITED
发明人： CAMPBELL, Diarmid , 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 of generating a three-dimensional map of a region from successive images of that region captured from different camera poses, the map comprising a set of landmark points each defined by a three dimensional spatial position and image information associated with that three dimensional position comprises capturing successive images of the region using a camera; designating a subset of the captured images as a set of keyframes each having respective sets of image position data representing image positions of landmark points detected as feature points in that image; in respect of a newly captured image, detecting a position of the camera by detecting the position of landmark points in the newly captured image, the detecting step comprising: generating a prediction of the camera pose; selecting an ordering of the landmark points; and detecting whether an image region of the newly captured image approximately matches an expected image position of a landmark point based on the predicted camera pose by detecting, for successive landmark points in the ordering, whether the image region is substantially identical to the image information associated with that landmark point; and refining the prediction of the camera pose based on the detecting step; in which the selecting step comprises: performing a statistical test on the set of landmark points; and selecting the ordering according to the results of the statistical test.
摘要翻译：一种从不同摄像机姿势捕获的区域的连续图像生成区域的三维地图的方法，包括由三维空间位置定义的一组地标点和与该三维位置相关联的图像信息的地图包括使用相机拍摄该区域的连续图像; 将所捕获图像的子集指定为一组关键帧，每组关键帧具有表示作为所述图像中的特征点检测的地标点的图像位置的各个图像位置数据组; 对于新拍摄的图像，通过检测新拍摄图像中的地标点的位置来检测相机的位置，所述检测步骤包括：产生相机姿态的预测; 选择地标点的顺序; 以及基于预测的摄像机姿态来检测新拍摄的图像的图像区域是否近似地与地标点的预期图像位置匹配，对于顺序中的连续地标点，检测图像区域是否与相关联的图像信息基本相同具有里程碑意义; 并且基于检测步骤来改善摄像机姿态的预测; 其中所述选择步骤包括：对所述地标点集合执行统计测试; 并根据统计测试的结果选择排序。

3. 发明申请

WO2014020319A1 LOCALISATION AND MAPPING 审中-公开
标题翻译：本地化和映射
公开(公告)号：WO2014020319A1
公开(公告)日：2014-02-06
申请号：PCT/GB2013/051996
申请日：2013-07-25
申请人： SONY COMPUTER ENTERTAINMENT EUROPE LIMITED
发明人： CAMPBELL, Diarmid , 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 of generating a three-dimensional map of a region from successive images of that region captured from different camera poses, the map comprising a set of landmark points each defined by a three dimensional spatial position and image information associated with that three dimensional position comprises capturing successive images of the region;detecting feature points within the captured images;designating a subset of the captured images as a set of keyframes each having camera pose data indicative of a camera pose and respective sets of measurement data representing image positions of landmark points detected as feature points in that image;in respect of the keyframes, 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 by:(i) deriving a difference between the measurement data for landmark points in the keyframes and corresponding image positions obtained from the camera pose data and the three dimensional spatial position of that landmark point; and(ii) adjusting one or both of the camera pose data for one or more keyframes and the three dimensional spatial position of one or more landmark points so as to reduce the detected difference; for a feature point,not corresponding to a bundle-adjusted landmark point, detected at an intervening image which is not a keyframeand present in another intervening image which is not a keyframe, generating a non-bundle-adjusted point corresponding to that feature point; and deriving a camera pose in respect of an image using the non-bundle-adjusted points and the bundle adjusted landmark points.
摘要翻译：一种从不同摄像机拍摄的区域的连续图像生成区域的三维地图的方法，包括由三维空间位置定义的一组地标点和与该三维位置相关联的图像信息的地图包括捕获所述区域的连续图像;检测所捕获的图像内的特征点;将所捕获的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，以及表示检测到的地标点的图像位置的各组测量数据作为该图像中的特征点;关于关键帧，通过迭代地改进与至少一个关键帧子集相关联的地标和相机姿态数据的三维空间位置，执行束调整以生成束调整的地标点，通过：（i）导出t中的地标点的测量数据之间的差异从相机获取的关键帧和相应的图像位置姿态数据和该地标点的三维空间位置; 以及（ii）调整一个或多个关键帧的摄像机姿态数据和一个或多个地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; 对于特征点，不对应于在不是关键帧的另一中间图像中存在的不是关键帧的中间图像处检测到的束调整的地标点，生成对应于该特征点的非束调整点; 并且使用非束调整点和束调整的界标点来导出关于图像的相机姿态。

4. 发明申请

WO2014020317A1 LOCALISATION AND MAPPING 审中-公开
标题翻译：本地化和映射
公开(公告)号：WO2014020317A1
公开(公告)日：2014-02-06
申请号：PCT/GB2013/051994
申请日：2013-07-25
申请人： SONY COMPUTER ENTERTAINMENT EUROPE LIMITED
发明人： CAMPBELL, Diarmid , 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 of generating a three-dimensional map of a region from successive images of that region captured from different camera positions, the map comprising a set of landmark points each defined by a three dimensional spatial position and image information associated with that three dimensional position, comprises capturing successive images of the region; detecting feature points within the captured images; designating a subset of the captured images as a set of keyframes each having respective sets of measurement data representing image positions of landmark points detected as feature points in that image, each keyframe being connected to at least one other keyframe in the set by a connection comprising at least a threshold number of landmark points, having corresponding measurement data for that keyframe, in common with the same landmark points having corresponding measurement data for that other keyframe in the set, and the set of keyframes being such that each keyframe in the set is directly or indirectly connected to all of the other keyframes in the set by a sequence of one or more such connections; detecting whether candidate measurement data associated with a keyframe may be removed from the set of measurement data for that keyframe, by detecting whether each keyframe, in the set of keyframes without the candidate measurement data, is still directly or indirectly connected to all of the other keyframes in the set of keyframes by a sequence of one or more connections; and if so, removing that candidate measurement data.
摘要翻译：一种从不同摄像机位置拍摄的该区域的连续图像生成区域的三维地图的方法，该地图包括由三维空间位置定义的一组地标点和与该三维位置相关联的图像信息，包括捕获所述区域的连续图像; 检测拍摄图像内的特征点; 将捕获的图像的子集指定为一组关键帧，每组关键帧具有表示作为该图像中的特征点检测的地标点的图像位置的各个测量数据集，每个关键帧通过连接连接到该集合中的至少一个其他关键帧，包括至少具有阈值数量的具有该关键帧的相应测量数据的地标点，与具有该组中该另一关键帧的相应测量数据的相同标记点相同，并且该组关键帧使得该组中的每个关键帧为通过一个或多个这样的连接的序列直接或间接地连接到集合中的所有其他关键帧; 通过检测在没有候选测量数据的关键帧集合中的每个关键帧是否仍然直接或间接地连接到所有其他的关键帧，检测与关键帧相关联的候选测量数据是否可以从该关键帧的测量数据的集合中移除由一个或多个连接的序列组成的关键帧中的关键帧; 如果是，则移除该候选测量数据。

5. 发明申请

WO2014020316A3 LOCALISATION AND MAPPING 审中-公开
标题翻译：定位与映射
公开(公告)号：WO2014020316A3
公开(公告)日：2014-02-06
申请号：PCT/GB2013/051993
申请日：2013-07-25
申请人： SONY COMPUTER ENTERTAINMENT EUROPE LIMITED
发明人： CAMPBELL, Diarmid , MARTINI, Antonio
IPC分类号： G06T7/00
摘要： A method of detecting the presence of a building in a captured image comprises dividing the captured image into a plurality of image regions;detecting a dominant angle of detected edges within each image region; and detecting the presence of a building in an image region if the dominant angle of detected edges within that image region, excluding edges within a first threshold angle of vertical, is within a second threshold angle of horizontal and if the distribution of detected edges within the second threshold angle of horizontal is substantially the same as that of at least one adjacent image region.
摘要翻译：检测捕获的图像中的建筑物的存在的方法包括：将捕获的图像分成多个图像区域;检测每个图像区域内的检测到的边缘的主导角; 以及如果除了垂直的第一阈值角度内的边缘之外的该图像区域内的检测到的边缘的主角度处于水平的第二阈值角度内且如果检测到的边缘内的检测到的边缘的分布在图像区域中检测到建筑物的存在水平的第二阈值角度与至少一个相邻图像区域的角度基本相同。

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