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Camera pose determination method, device, electronic device, and computer-readable medium

A camera and pose technology, applied in the computer field, can solve the problem of poor camera pose estimation effectiveness, and achieve the effect of alleviating the poor estimation effectiveness.

Active Publication Date: 2021-08-10
BEIJING KUANGSHI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the purpose of the present invention is to provide a camera pose determination method, device, electronic equipment and computer-readable medium, to alleviate the existing technical problem of poor effectiveness of camera pose estimation, so that when the camera moves quickly Can also accurately track the camera pose

Method used

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  • Camera pose determination method, device, electronic device, and computer-readable medium
  • Camera pose determination method, device, electronic device, and computer-readable medium
  • Camera pose determination method, device, electronic device, and computer-readable medium

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Embodiment 1

[0027] First, refer to figure 1 The electronic device 100 for implementing the embodiment of the present invention can be used to operate the camera position determination of the embodiments of the present invention.

[0028] like figure 1 As shown, the electronic device 100 includes one or more processor 102, one or more memory 104, input device 106, output device 108, and camera 110, which are connected by bus systems 112 and / or other forms of connection mechanisms (not shown) Interconnection. It should be noted that figure 1 The components and structures of the electronic device 100 shown are merely exemplary, not limiting, and the electronic devices may also have other components and structures.

[0029] The processor 102 can be implemented using at least one of the digital signal processor (DSP), field programmable gate array (FPGA), programmable logic array (PLA), and ASIC (Application Specific Integrated Circuit). The processor 102 may be a central processing unit (CPU) o...

Embodiment 2

[0036] According to an embodiment of the present invention, an embodiment of a camera position determining method is provided, and it is to be explained that the steps shown in the drawings can be performed in a computer system such as a set of computer executable instructions. Although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in the order herein.

[0037] figure 2 It is a flow diagram of a method for determining a method according to an embodiment of the present invention, such as figure 2 As shown, the method includes the following steps:

[0038] Step S202, extract at least one feature block in the first image frame captured by the target camera;

[0039] In the present embodiment, the first image frame is an image frame to be processed at the current time, and the second image frame is a first image frame of the first image frame.

[0040] The feature block in the first image frame and the feature in the second ...

Embodiment 3

[0088] image 3 It is a flow chart of another camera position determination method according to an embodiment of the present invention, such as image 3 As shown, the process of this method is as follows:

[0089] (1) System initialization. Get initialization of the Calman filter by obtaining the acceleration W of the camera to obtain the angle speed f of the camera by the inertial measuring unit of the camera to obtain the second parameter P + , X + Where the second parameter P + , X + For the previous frame image, the covariance and the system status amount after Karman update;

[0090] (2) Calman predicts. By initializing the second parameter, the acceleration W input after initialization, the corner speed F is predicted on the status of the current camera, resulting in P - X - The specific calculation process is described below:

[0091] The formula of the current camera acceleration and angular velocity is: in, Measure the angular velocity, The true value of angular velocit...

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Abstract

The present invention provides a camera pose determination method, device, electronic equipment, and computer-readable medium, relating to the technical field of computers, including extracting at least one feature block from a first image frame captured by a target camera; calculating the first image The photometric error between each feature block in the frame and the corresponding feature block in the second image frame, wherein the second image frame is the previous image frame of the first image frame; each feature of the first image frame is determined based on the photometric error The optimized position of the block; the optimized position and target update parameters are used as the update parameters of the Kalman filter to calculate the target state parameters, and use the target state parameters to predict the pose of the target camera. The target update parameters are the first image frame Kalman The covariance parameter and system state quantity after Mann prediction, the present invention alleviates the existing technical problem of poor effectiveness of camera pose estimation, so that the camera pose can be accurately tracked even when the camera moves rapidly.

Description

Technical field [0001] The present invention relates to the technical field of computers, and in particular, to a camera position determination method, apparatus, electronic device, and computer readable medium. Background technique [0002] Pose Estimation plays a very important role in the computer vision. The camera bit rack is referring to a number of images, estimates where the camera moves. The accuracy of the camera bit raft method will directly affect the quality of the task of visual tracking, photogrammetry, and camera calibration in the computer vision research. The positional estimation method used in the prior art is a method based on feature points. [0003] The feature point matching method is to extract many feature points from the image, and then characterize the characteristics between the images, so that many match points are obtained, and then the camera positioning is solved according to these points. That is, the method of matching the feature point is to ma...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/73
CPCG06T7/73
Inventor 朱尊杰刘骁
Owner BEIJING KUANGSHI TECH CO LTD
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