Position estimation method, position estimation device, and program

The position estimation method compares feature points across images from multiple cameras to determine the most accurate image pairs, addressing the challenge of small overlapping images and improving camera position estimation without increased costs.

WO2025069537A1 Publication Date: 2025-04-03PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO LTD
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Patent Information

Application Number
PCT/JP2024/017349
Authority / Receiving Office
WO · WO
Patent Type
Applications
Current Assignee / Owner
Priority Date
2023-09-29
Filing Date
2024-05-10
Publication Date
2025-04-03

AI Technical Summary

Technical Problem

Conventional methods for estimating the positions of multiple cameras, such as SfM, face challenges in accurately determining camera positions when the overlapping portion of images is small, especially in scenarios where cameras need to capture subjects from different angles without increasing costs by using numerous cameras or equipment.

Method used

A position estimation method that acquires images from multiple cameras, compares them using feature points, and determines a first image pair based on the total number of matching feature points, allowing for accurate estimation of camera positions.

Benefits of technology

This method enables accurate estimation of camera positions by identifying image pairs with more matching feature points, thereby reducing processing load and improving estimation accuracy without the need for extensive camera setups.

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Abstract

This position estimation method includes: acquiring N (N is an integer of 1 or greater) first images captured by a first camera disposed at a first position; acquiring M (M is an integer of 1 or greater) second images captured by a second camera capable of changing an imaging direction by swinging at a second position different from the first position; comparing the N first images and the M second images using feature points included in the respective images; determining a first image pair including one first image and one second image from the N × M sets of image pairs on the basis of the total number of pairs of one or more feature points matching each other obtained as a result of the comparison; and estimating the first position and the second position on the basis of the pair of one or more feature points between the first image pairs.
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