Camera pose tracking method and device, equipment and storage medium

Abstract

The invention discloses a camera pose tracking method and device, equipment and a system and belongs to the field of augmented reality. The method comprises the steps that second equipment receives aborn-image and born-pose parameters sent by first equipment; the second equipment acquires a current image collected by a camera; the second equipment acquires camera pose variation of the current image relative to the born-image; and the second equipment obtains current camera pose parameters generated when the camera collects the current image through calculation according to the born-pose parameters and the camera pose variation. Through the camera pose tracking method and device, the equipment and the system, the second equipment performs camera pose tracking on the image collected by itself relative to the born-image of the first equipment, it is guaranteed that camera pose tracking results of the two images are identical, and therefore the problem that a large amount of data needs tobe transmitted if it is needed to synchronize an environment map constructed on the first equipment to the second equipment is solved.

Description

technical field [0001] The embodiments of the present application relate to the field of augmented reality, and in particular to a method, device, device, and storage medium for tracking camera poses. Background technique [0002] In the field of AR (Augmented Reality, enhanced display), the device equipped with the camera needs to track the movement posture of the camera in the real environment during the movement process without the prior information of the environment. During the camera pose tracking process, the device will establish a three-dimensional coordinate system for the real environment. [0003] There are already mature solutions for camera pose tracking of a single device in the related art. Schematically, the device uses the first image initially collected as the marked image, and performs feature point tracking on the subsequent image relative to the marked image, and calculates the homography matrix between the subsequent image and the marked image accordi...

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present application provides a camera pose tracking method, device, device, and storage medium, which can be used to solve the problem of synchronizing the environment map (including a large number of image frames and three-dimensional points) built on the first device to the second device. The synchronization process needs to transfer a large amount of data

Images