Unlock instant, AI-driven research and patent intelligence for your innovation.

Camera inter-frame motion determination method

A technology for frame-to-frame movement and determination methods, applied in the field of visual mileage, can solve problems such as poor robustness, achieve the effect of improving success rate and accuracy, and reducing computational complexity

Active Publication Date: 2021-07-02
PENG CHENG LAB
View PDF8 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005]Aiming at the above-mentioned defects of the prior art, the present invention provides a method for determining motion between camera frames, aiming at solving the problem of using the optical flow tracking algorithm in the prior art The problem of poor robustness of pose estimation

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Camera inter-frame motion determination method
  • Camera inter-frame motion determination method
  • Camera inter-frame motion determination method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0054] The camera inter-frame motion determination method provided by the present invention can be applied in a terminal, and the terminal can determine the camera inter-frame motion after receiving the video stream through the camera inter-frame motion determination method provided by the present invention, and obtain the shot The frame-to-frame motion of the video stream's camera between two frames of the video. Such as figure 1 As shown, in one embodiment of the method for determining motion between camera frames, the steps include:

[0055] S100. Retrieve the map landmark point corresponding to the target feature point in the second video frame, and obtain the map landmark point in the third video frame according to the first camera inter-frame motion between the second video frame and the first video frame. The predicted feature pixel positions in , wherein the first video frame and the third video frame are respectively the previous frame and the next frame of the secon...

Embodiment 2

[0106] Based on the above embodiments, the present invention also provides a device for determining motion between camera frames, such as Figure 4 shown, including:

[0107] The retrieval module is used to retrieve the map landmark points corresponding to the target feature points in the second video frame, and obtain the map landmark points according to the first camera inter-frame motion between the second video frame and the first video frame. Predicted feature pixel positions in three video frames, wherein the first video frame and the third video frame are respectively the previous frame and the next frame of the second video frame, specifically as described in Embodiment 1 stated;

[0108] Pyramid optimization module, configured to construct the second image pyramid of the third video frame and the first image pyramid of the second video frame, obtain the map landmark point in the first image pyramid according to the estimated feature pixel position The top-level esti...

Embodiment 3

[0112] Based on the above embodiments, the present invention also provides a corresponding terminal, such as Figure 5 As shown, the terminal includes a processor 10 and a memory 20 . Figure 5 Only some components of the terminal are shown, but it should be understood that implementation of all illustrated components is not required, and more or fewer components may be implemented instead.

[0113] The storage 20 may be an internal storage unit of the terminal in some embodiments, such as a hard disk or memory of the terminal. In other embodiments, the memory 20 may also be an external storage device of the terminal, such as a plug-in hard disk equipped on the terminal, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD ) card, flash memory card (Flash Card), etc. Further, the memory 20 may also include both an internal storage unit of the terminal and an external storage device. The memory 20 is used to store application software and various...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a camera inter-frame motion determination method, which comprises: retrieving a map landmark point corresponding to a target feature point in a second video frame, and acquiring an estimated feature pixel position of the map landmark point in a third video frame according to camera inter-frame motion between the second video frame and a first video frame; constructing a second image pyramid of the third video frame and a first image pyramid of the second video frame, and obtaining a top-layer estimated feature pixel position of the map landmark point on the second image pyramid according to the estimated feature pixel position, obtaining the optimal optical flow displacement of each layer of the second image pyramid by taking the position of the top-layer estimated feature pixel as a search starting point of the top layer; obtaining a target feature pixel position of a map landmark point in the third video frame according to the optimal optical flow displacement; and obtaining camera inter-frame motion between the third video frame and the second video frame according to the target feature pixel position. According to the invention, more stable and accurate inter-frame movement of the camera can be obtained.

Description

technical field [0001] The invention relates to the technical field of visual mileage, in particular to a method for determining motion between camera frames. Background technique [0002] In the past year, the application depth and breadth of various intelligent bodies such as drones and unmanned vehicles have been continuously expanded, while location and environmental information are the data basis for mobile intelligent bodies to realize highly unmanned and positioning navigation. Visual Simultaneous Localization and Mapping (VSLAM) refers to related technologies that use visual sensors to obtain external image data to solve carrier position and environment models. Among them, visual pose estimation is the basic work of the VSLAM system and the final performance of the VSALM system. An important determinant of the visual pose estimation is to obtain the pose and position of the camera that shoots the video at each moment. The visual pose estimation can be obtained by obt...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G06T7/246G06T7/80
CPCG06T7/246G06T7/80G06T2207/10016G06T2207/10028
Inventor 胡家瑞崔金强尉越李昱祺
Owner PENG CHENG LAB