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Monocular vision slam with general and panoramic camera movement

A monocular vision, panoramic camera technology, used in TV, TV system components, image analysis, etc., can solve problems such as failure and unavailability of maps

Active Publication Date: 2018-11-13
QUALCOMM INC
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Problems solved by technology

Camera tracking can eventually fail due to map not being available

Method used

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  • Monocular vision slam with general and panoramic camera movement
  • Monocular vision slam with general and panoramic camera movement
  • Monocular vision slam with general and panoramic camera movement

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Embodiment Construction

[0019] The word "exemplary" or "example" is used herein to mean "serving as an example, instance, or illustration." Any aspect or embodiment described herein as "exemplary" or as "example" is not necessarily to be construed as preferred or advantageous over other aspects or embodiments.

[0020] In one embodiment, the functionality of 6DOF SLAM and panoramic SLAM can be combined into a robust motion hybrid keyframe-based SLAM system that can accept fully triangulated keyframes for normal 6DOF operation, and has only Keyframes for rotation constraints. In one embodiment, Hybrid SLAM (HSLAM) can handle pure rotation and provide a seamless tracking experience to the user. In one embodiment, the HSLAM map utilizes 6DOF and panoramic keyframes to estimate new parts of a three-dimensional (3D) map (eg, a global SLAM map). The HSLAM can continuously track the 3D map through rotations away from the mapped portion of the scene, and can update the 3D map using information from camera ...

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Abstract

The present invention discloses a system, apparatus and method for simultaneous localization and mapping of monocular vision, which handles general 6DOF and panoramic camera movement. A 3D map of the environment is received containing features with finite or infinite depth observed in regular or panoramic keyframes. The camera is tracked in 6DOF from finite, infinite or mixed feature sets. Upon detection of panoramic camera movement towards unmapped scene regions, reference panoramic keyframes with infinite features are created and inserted into the 3D map. As the panoramic camera movement expands towards unmapped scene regions, the reference keyframe is extended with further subordinate panoramic keyframes. Panoramic keyframes are robustly localized at 6DOF with respect to limited 3D map features. A localized panoramic keyframe contains 2D observations of infinite map features that match 2D observations in other localized keyframes. The 2D‑2D correspondences are triangulated, resulting in new limited 3D map features.

Description

[0001] Cross References to Related Applications [0002] This application claims the benefit of US Provisional Application No. 61 / 817,808, filed April 30, 2013, and is expressly incorporated herein by reference. technical field [0003] The subject matter disclosed herein generally involves simultaneous localization and mapping. Background technique [0004] Visual Simultaneous Localization and Mapping (SLAM) systems process input from a single camera and continuously build a three-dimensional (3D) model of the environment (eg, a SLAM map) as the camera moves in six degrees of freedom (6DOF). A visual SLAM system simultaneously tracks the position and orientation (pose) of the camera relative to the 3D model. Keyframe-based visual SLAM systems process a discrete selection of frames from an incoming camera image stream or feed. Keyframe-based visual SLAM systems assume general camera motion and apply structure recovery from motion techniques to create 3D feature maps. [...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00
CPCG06T7/579H04N13/289H04N23/698
Inventor C·皮尔基海姆D·施马尔施蒂格G·赖特迈尔
Owner QUALCOMM INC
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