Pose determining method and device, and storage medium

Abstract

The embodiment of the invention discloses a pose determining method and device and a storage medium, and belongs to the technical field of computers. The method comprises: based on the homography matrix of a marker image relative to a specified coordinate system, tracking the feature points of the marker image and acquiring the homography matrix of a specified image relative to the specified coordinate system; and decomposing the homography matrixes according to a constraint condition and a depth hypothesis condition to obtain a rotational displacement matrix of the specified image relative tothe marker image; and acquiring the pose parameters of the specified image relative to the marker image from the rotational displacement matrix. When the homography matrixes are decomposed, the influence of the depths of the feature points on a tracking process is taken into consideration, and the pose parameters of the specified image relative to the marker image are obtained under the same depth of the feature points on the horizontal plane of the specified coordinate system, thereby determining the position and the attitude of a camera and improving the tracking accuracy of the camera. Noerror is introduced even when switching the marker images.

Description

technical field [0001] Embodiments of the present invention relate to the field of computer technology, and in particular, to a pose determination method, device, and storage medium. Background technique [0002] AR (Augmented Reality, Augmented Reality) technology is a technology that tracks the position and posture of the camera in real time and displays it in combination with virtual images, videos or 3D models. One of the important research directions in this field. The most important problem in AR technology is how to accurately determine the position and attitude of the camera. [0003] The related technology proposes a method to determine the position and attitude of the camera by tracking the feature points in the template (marker) image. First, a template image is pre-defined, and the feature points in the template image are extracted. Change to track the extracted feature points. Whenever the camera currently captures an image, identify the feature points of the ...

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Problems solved by technology

[0004] In the process of implementing the embodiments of the present invention, the inventors found that the above-mentioned related technologies have at least the following problems: when the camera rotates, the depth of the feature points in the image will change, which will affect the pose parameters. However, the above-mentioned determined pose parameters The method does not consider the depth of the feature points in the image, resulting in low tracking accuracy of the camera

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