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Mobile camera localization using depth maps

A technology of depth camera and depth map, which is applied in image analysis, image enhancement, image data processing, etc., and can solve problems such as difficulty in detecting depth map features

Active Publication Date: 2012-07-25
MICROSOFT TECH LICENSING LLC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Detecting features in depth maps can be more difficult due to differences in available information compared to color map images

Method used

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  • Mobile camera localization using depth maps
  • Mobile camera localization using depth maps
  • Mobile camera localization using depth maps

Examples

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Embodiment Construction

[0025] The detailed description provided below in connection with the accompanying drawings is intended as a description of examples of the invention and is not intended to represent the only forms in which examples of the invention may be constructed or used. This description sets forth the functionality of an example of the invention, and a sequence of steps for building and operating the example of the invention. However, the same or equivalent functions and sequences can be implemented by different examples.

[0026] Although the examples are implemented herein in a real-time camera tracking system using depth images obtained from mobile depth cameras emitting and capturing infrared light, the described system is provided as an example and not a limitation. Those skilled in the art will appreciate that this example is suitable for use in a variety of different types of real-time camera tracking systems, including but not limited to systems using depth information obtained ...

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Abstract

Mobile camera localization using depth maps is described for robotics, immersive gaming, augmented reality and other applications. In an embodiment a mobile depth camera is tracked in an environment at the same time as a 3D model of the environment is formed using the sensed depth data. In an embodiment, when camera tracking fails, this is detected and the camera is relocalized either by using previously gathered keyframes or in other ways. In an embodiment, loop closures are detected in which the mobile camera revisits a location, by comparing features of a current depth map with the 3D model in real time. In embodiments the detected loop closures are used to improve the consistency and accuracy of the 3D model of the environment.

Description

technical field [0001] The present invention relates to mobile camera localization using depth maps. Background technique [0002] Mobile camera localization involves finding the position and orientation of a camera moving in its environment, and is critical for many applications such as robotics, immersive gaming, augmented reality, architecture, planning, robotics, engineering prototyping, vehicle navigation, medical applications, and other problem domains is useful. Existing schemes are limited in accuracy, robustness, and speed. For many applications, precise camera positioning is required in real time, for example so that a robot can successfully move around its environment. [0003] Many previous mobile camera localization methods have used color video cameras instead of depth cameras. Usually color video cameras give high resolution and accuracy, while rich color information allows detection of visual features in video images. The information that can be obtained ...

Claims

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Application Information

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IPC IPC(8): G06T7/00
CPCG06T7/20G06T7/0042G06T2207/30244G06T7/0044G06T2207/10016G06T2207/10024G06T2207/10028G06T2207/10021G06T7/00G06T7/74G03B35/00
Inventor R·纽科姆S·伊扎迪D·莫利尼奥克斯O·希利格斯D·金J·D·J·肖顿P·科利A·费茨吉本S·E·豪杰斯D·A·巴特勒
Owner MICROSOFT TECH LICENSING LLC
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