Indoor scene positioning method based on hybrid camera

An indoor scene and localization method technology, which is applied in the field of indoor scene localization based on hybrid cameras, can solve the problems such as the scalability of the restriction method and the difficulty of calculating the similarity of key frames, and achieve the effect of improving the accuracy and efficiency.

Active Publication Date: 2015-04-15
ZHEJIANG UNIV
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Problems solved by technology

The disadvantage is that each key frame usually uses operations such as downsampling and brightness information normalization when encoding. As the number of key frames increases, the similarity calculation between key frames will become more and more d

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  • Indoor scene positioning method based on hybrid camera
  • Indoor scene positioning method based on hybrid camera
  • Indoor scene positioning method based on hybrid camera

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[0027] In order to describe the present invention in more detail, the technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] Such as figure 1 As shown, the indoor scene positioning method based on the hybrid camera of the present invention includes the following steps:

[0029] (1) Use the RGB-D hybrid camera to shoot indoor scenes to obtain an RGB image sequence and a depth image sequence;

[0030] (2) Extract the depth information of each pixel in each frame of the depth image sequence, generate a three-dimensional point cloud image of the indoor scene in real time, and calculate the hybrid camera parameters in real time;

[0031] In this embodiment, based on the traditional ICP (Iterative Closest Point) algorithm for estimating the camera pose, the ICP algorithm is specifically optimized, which mainly includes camera pose motion compensation and ICP point cloud registration with we...

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Abstract

The invention discloses an indoor scene positioning method based on a hybrid camera. The indoor scene positioning method includes taking a depth image and a color image of an indoor scene by the hybrid camera; tracking position of the camera; utilizing a standard greed forest algorithm to train the depth image and the color image of the indoor scene to build a regression forest; when positioning the indoor scene, utilizing the depth image and the color image of a current frame photographed by the hybrid camera and the regression forest which is trained well to calculate world coordinates corresponding to the current camera to complete positioning. In the indoor scene positioning method, the hybrid camera is adopted for photographing, a regression forest algorithm is adopted to train each pixel point in a known scene, and sparse feature points or dense feature points do not need to be used for scene positioning, so that time for detecting, describing and matching the feature points is saved, camera positioning is enabled to have nothing to do with state, accumulated errors in camera tracking are avoided, and accuracy and efficiency of scene positioning are improved effectively.

Description

technical field [0001] The invention belongs to the technical field of indoor scene positioning, and in particular relates to an indoor scene positioning method based on a hybrid camera. Background technique [0002] With the rapid growth of digital image data, it is becoming more and more urgent for computers to automatically understand images. As an important research content of image understanding, scene localization has received extensive attention and is currently a research hotspot in the field of computer vision. Most of the current mainstream scene localization methods are based on color images. [0003] The scene localization methods based on color images can be roughly divided into two categories: the first one is the scene localization method based on sparse feature point matching. The strategy adopted by this type of algorithm is to extract a certain number of key points from the scene image when the camera is tracking normally, describe the features of these ke...

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Application Information

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IPC IPC(8): G06T7/00
CPCG06T2207/30244
Inventor 李阳王梁昊李东晓张明
Owner ZHEJIANG UNIV
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