A method and apparatus for determining that pose of a camera and an electronic device

A determination method and camera technology, applied in the field of image processing, can solve problems such as feature matching system failure, difficulty in determining feature matching, sparse maps, etc., and achieve the effect of avoiding individual differences

Active Publication Date: 2019-03-29
NANJING INST OF ADVANCED ARTIFICIAL INTELLIGENCE LTD
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

In the currently commonly used camera pose calculation methods, the method of minimizing the reprojection error is often used to calculate the camera pose. In this process, corner points need to be extracted and feature matching is perform

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  • A method and apparatus for determining that pose of a camera and an electronic device
  • A method and apparatus for determining that pose of a camera and an electronic device
  • A method and apparatus for determining that pose of a camera and an electronic device

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Embodiment Construction

[0020] Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here.

[0021] Application overview

[0022] As mentioned above, in the current visual odometry calculation method, the reprojection error is often optimized to calculate the relative motion parameters of the camera, so as to obtain the pose or position of the camera at the current moment. However, in this method, it is often necessary to extract corner points and perform feature matching; if the corner points are too sparse, the map will be sparse, and feature matching errors are very likely to cause system failure. Therefore, there is a need for improved camera ...

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Abstract

A method and apparatus for determining that pose of a camera and an electronic device are disclosed. The method for determining that pose of a camera may include determining a plurality of first pixelpoints having a preset semantics in a current frame image captured by the camera; Determining a plurality of second pixel points having preset semantics in a previous frame image preceding the current frame image, wherein the plurality of first pixel points correspond to at least a portion of the plurality of second pixel points; Determining an error between the plurality of first pixel points and the plurality of second pixel points, the error comprising a semantic error; Determining a camera pose change value of the current frame image relative to the previous frame image based on the error; And determining the camera posture corresponding to the current frame image based on the camera posture corresponding to the previous frame image and the camera posture change value of the current frame image relative to the previous frame image. The camera pose determination method according to the embodiment of the present application can be calculated directly on the semantic segmentation result, thereby avoiding the influence of individual differences between cameras.

Description

technical field [0001] The present application relates to the technical field of image processing, and more specifically, to a camera pose determining method, determining device and electronic equipment. Background technique [0002] The visual mileage calculation method has been widely used in the navigation field of robots and unmanned vehicles, such as smart cars and drones. The measurement error caused by the vehicle skidding of the type odometer also avoids the measurement error caused by factors such as the decrease of sensor accuracy, and improves the measurement accuracy. [0003] In the visual odometry calculation method, the calculation method of the camera pose is its core module. In the currently commonly used camera pose calculation methods, the method of minimizing the reprojection error is often used to calculate the camera pose. In this process, corner points need to be extracted and feature matching is performed; if the corner points are too sparse and the ...

Claims

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Application Information

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IPC IPC(8): G06T7/70
CPCG06T7/70G06T2207/10016G06T7/73G06T2207/30244
Inventor 颜沁睿
Owner NANJING INST OF ADVANCED ARTIFICIAL INTELLIGENCE LTD
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