A method and device for carrying out three-dimensional tracking initialization

A three-dimensional tracking and initialization technology, applied in the field of communication, can solve problems such as single texture, serious highlights, and inability to realize SLAM initialization, so as to improve user experience and tracking effect

CN109887003AActive Publication Date: 2019-06-14HISCENE INFORMATION TECH CO LTD
11 Cites 14 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2019-06-14

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Abstract

The invention aims to provide a method for carrying out three-dimensional tracking initialization. The method specifically comprises the steps of obtaining the 3D model information about a target object and an initial pose of a corresponding camera device relative to the target object; determining 3D surface edge model information corresponding to the initial pose based on the initial pose and the3D model information; and based on the 3D surface edge model information and the initial pose, carrying out tracking matching on the target object in a video related to the target object, and obtaining a corresponding tracking matching result, the tracking matching result comprising an accurate pose of the camera device relative to the target object. According to the method, the SLAM rapid initialization in a complex scene can be realized, a very good tracking effect can be obtained under various environmental interferences, and the scale of a physical world is provided for an SLAM system.
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Description

[0001] This case claims the priority of CN 201910064126.8 (a method and device for 3D tracking initialization) technical field

[0002] The present application relates to the communication field, and in particular to a technique for initializing three-dimensional tracking. Background technique

[0003] Real-time positioning and map construction or simultaneous localization and mapping (SLAM), the robot starts to move from an unknown position in an unknown environment, and performs self-positioning according to position estimation and maps during the movement process. Incremental maps are built on top of the robot to realize autonomous positioning and navigation of the robot. The concept of SLAM is relatively broad, including visual SLAM, visual + inertial device SLAM, lidar SLAM, etc., which is a method in three-dimensional tracking.

[0004] Visual target tracking: refers to the detection, extraction, identification and tracking of moving targets in the image sequence, and...

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Embodiment Construction

[0045] The application will be described in further detail below in conjunction with the accompanying drawings.

[0046] In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party all include one or more processors (for example, a central processing unit (Central Processing Unit, CPU)), an input / output interface, a network interface and Memory.

[0047] Memory may include non-permanent memory in computer-readable media, random access memory (Random Access Memory, RAM) and / or non-volatile memory, such as read-only memory (Read Only Memory, ROM) or flash memory (Flash Memory). Memory is an example of computer readable media.

[0048]Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. ...