Simultaneous positioning and map building method

A technique for map construction and relocation, applied in the field of robust camera tracking, capable of solving problems such as violations

Active Publication Date: 2017-02-22
ZHEJIANG UNIV
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Problems solved by technology

However, strong rotation and fast motion violate the assumption of smooth motion

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Embodiment Construction

[0059] The invention discloses a simultaneous positioning and map construction method, which can reliably deal with strong rotation and fast movement, thereby ensuring a good experience of augmented reality. In this method, a new multi-homography based feature tracking method is first proposed, which is efficient and robust under strong rotation and fast motion. Based on this, a real-time local map expansion strategy is proposed, which can triangulate the 3D points of the scene in real time. In addition, a sliding window-based camera orientation optimization framework is proposed, using simulated or actual IMU data to add a priori motion constraints between consecutive frames.

[0060] Before introducing this method in detail, first introduce the convention of the mathematical formula of this method (same as R. Hartley and A. Zisserman. Multiple view geometry in computer vision. Cambridge university press, 2004). Scalars are represented by italic characters (such as x), matri...

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Abstract

The invention discloses a simultaneous positioning and map building method which can reliably handle strong rotation and fast movement. The method proposes a simultaneous positioning and map building algorithm framework based on key frames, which can support fast local map expansion. In this framework, a new feature tracking method based on multiple homography matrix is proposed, which is efficient and robust under strong rotation and fast motion. A camera orientation optimization framework based on a sliding window is also proposed, and motion constraints are added between successive frames with simulated or actual IMU data. Finally, a method of obtaining the real scale of a specific plane and scene is proposed, so that a virtual object is placed on the specific plane in real size.

Description

technical field [0001] The invention relates to a monocular camera tracking method applicable to augmented reality, in particular to a robust camera tracking method based on key frames. Background technique [0002] In recent years, with the popularity of mobile terminals and wearable devices, augmented reality has gained unprecedented attention. Realistic augmented reality requires precise estimation of camera orientation and real-time reconstruction of the scene, which is also the problem to be solved by simultaneous localization and mapping (SLAM) technology. [0003] Due to the complexity of real-world scenarios, traditional SLAM methods do not work well in practical applications. For example, when a new user uses a mobile device to take a scene and watch an augmented reality effect, they tend to move and rotate the mobile device at will. Therefore, strong rotation and fast motion are very common, but state-of-the-art SLAM systems are also difficult to handle such comp...

Claims

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Application Information

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IPC IPC(8): G06K9/00
CPCG06V20/36G06V20/46
Inventor 章国锋鲍虎军刘浩敏
Owner ZHEJIANG UNIV
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