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Pose determination method, device and storage medium

A determination method and pose technology, applied in the computer field, can solve problems such as low camera tracking accuracy, failure to consider the depth of feature points, and the influence of pose parameters, so as to avoid calibration problems, avoid tracking failures, and improve accuracy. Effect

Active Publication Date: 2021-12-14
TENCENT TECH (SHENZHEN) CO LTD
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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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  • Pose determination method, device and storage medium
  • Pose determination method, device and storage medium

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Embodiment Construction

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0030] The embodiment of the present invention provides a pose determination method, which is applied to the scene where the smart device tracks the position and pose of the camera, especially in the AR scene, when the smart device uses AR technology for display, it needs to track the position and pose of the camera , such as AR games, AR videos, etc.

[0031] Wherein, the smart device is configured with a camera and a display unit, the camera is ...

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Abstract

The embodiment of the invention discloses a pose determination method, device and storage medium, belonging to the technical field of computers. The method includes: based on the homography matrix of the marked image relative to the specified coordinate system, tracking the feature points of the marked image to obtain the homography matrix of the specified image relative to the specified coordinate system; Decompose to obtain the rotation displacement matrix of the specified image relative to the marked image; obtain the pose parameters of the specified image relative to the marked image from the rotation displacement matrix. When decomposing the homography matrix, the influence of the depth of the feature points on the tracking process is taken into account, and the pose parameters of the specified image relative to the marked image are obtained under the condition that the depth of the feature points on the horizontal plane of the specified coordinate system is the same, so as to determine the camera. position and attitude, improving the tracking accuracy of the camera. No errors are introduced even when switching 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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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80
CPCG06T7/80G06T2207/30244G06T2207/10028
Inventor 林祥凯乔亮朱峰明凌永根暴林超
Owner TENCENT TECH (SHENZHEN) CO LTD
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