A method and device for initializing three-dimensional tracking

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

Active Publication Date: 2021-11-19
HISCENE INFORMATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the above method of 2D recognition for SLAM initialization cannot realize SLAM initialization when the tracking target has no planar target, severe highlights, and single texture.

Method used

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  • A method and device for initializing three-dimensional tracking
  • A method and device for initializing three-dimensional tracking
  • A method and device for initializing three-dimensional tracking

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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. ...

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Abstract

The purpose of this application is to provide a method for 3D tracking initialization, which specifically includes: acquiring 3D model information about the target object, and the corresponding initial pose of the camera device relative to the target object; pose and the 3D model information to determine the 3D surface edge model information corresponding to the initial pose; based on the 3D surface edge model information and the initial pose, carry out the target object in the video about the target object Tracking and matching, and obtaining a corresponding tracking and matching result, wherein the tracking and matching result includes the precise pose of the camera relative to the target object. This method can realize the rapid initialization of SLAM in complex scenes, achieve good tracking effect under various environmental interferences, and provide the scale of the physical world for the SLAM system.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/246G06T7/70
Inventor 刘涛侯晓辉周俊颖吴仑
Owner HISCENE INFORMATION TECH CO LTD
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