Camera Pose Localization Using Environment Property Maps
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Solution Overview
Problem
Current computer vision-based localization and tracking techniques in real environments are limited in accuracy and efficiency due to the reliance on image analysis alone, without effectively incorporating environmental information.
Innovation Solution
Combining computer vision techniques with environmental tracking methods by constructing and utilizing environment property maps that include sensor-retrievable and image information, such as environmental signals and property values, to enhance localization and tracking processes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If computer vision techniques are used to determine camera pose estimation, then localization information can be obtained, but accuracy and efficiency are limited due to reliance on image analysis alone
Solution Approach 1:
The patent combines computer vision techniques with environmental tracking methods by constructing environment maps that integrate both image information and sensor-retrievable information. This merging of multiple information sources improves localization accuracy while the pre-constructed environment map reduces real-time computational load, thereby improving efficiency as well.
Solution Approach 2:
The system performs preliminary construction of environment maps offline by collecting and processing image data and sensor data (such as Wi-Fi, Bluetooth, or magnetic field measurements) at known positions. This preliminary action creates a ready-to-use reference map that speeds up real-time localization without sacrificing accuracy.
2Measurement precision
If only image analysis is used for localization, then the system is simpler, but accuracy is limited without environmental information
Solution Approach 1:
The environment map serves multiple functions: it stores image information for visual matching, contains sensor-retrievable information for environmental tracking, and provides a reference framework for both offline and online processing. This multi-functionality justifies the added complexity by delivering superior localization accuracy.
Solution Approach 2:
The environment map acts as an intermediary that bridges computer vision and environmental tracking methods. It pre-processes and organizes diverse data sources (images and sensor readings) into a unified structure that facilitates accurate localization without requiring complex real-time processing of multiple independent systems.
3Measurement precision
If sensor-retrievable information is added to improve localization, then accuracy improves, but computational load increases
Solution Approach 1:
The system performs computationally intensive tasks of collecting, processing, and matching image and sensor data during offline environment map construction. This preliminary processing reduces real-time computational energy consumption while maintaining high localization accuracy through the use of the pre-constructed environment map.
Solution Approach 2:
By merging image information and sensor-retrievable information into a unified environment map during offline processing, the system avoids the need to process separate data streams in real-time. This combined approach improves localization accuracy while reducing real-time computational energy consumption.
Data Source
AI summary
An apparatus, method, and computer readable medium related to determining the position of a device, for example determining the pose of a camera. Varying embodiments discuss the use of sensors and captured images to construct an environment property map, which provides reference information in the form of environment properties that are associated with positions, such as camera poses. Embodiments of the disclosure discuss using the environment property map online (e.g. in real time) in order to determine the position of a device. In some embodiments, the environment property map provides a coarse position that is used to refine or limit the necessary work for determining a more precise position.