Panoramic Camera Visual Map Construction Using Perspective Sequences
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Solution Overview
Problem
In constructing visual maps, especially with panoramic images, the challenge lies in ensuring consistent feature tracking across images with limited texture fields, such as white walls or large glass surfaces, which can lead to inaccurate map construction due to the small field of view and quality of acquired image data.
Innovation Solution
A method and apparatus that utilize panoramic cameras to acquire 360° images, determine pose information and perspective sequences, and perform feature point matching within sliding windows to establish a feature track, thereby constructing a visual map that reduces the impact of image quality on map accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If a customized monocular or binocular camera is used to acquire image data, then the system can capture the target scene, but the field angle of view is not large enough and texture of the entire image becomes very small in special scenes
Solution Approach 1:
The patent transitions from traditional monocular/binocular cameras capturing limited perspective views to panoramic cameras that capture 360-degree omnidirectional images. This dimensional change allows the system to observe the entire target area from all directions simultaneously, effectively increasing the usable field angle of view from a limited cone to a complete spherical view, thereby resolving the contradiction between field angle and texture size.
2Adaptability or versatility
If different acquiring methods are used for different scenes, then image acquisition can be adapted, but the professional quality of data acquisition personnel must be high and feature tracking may fail
Solution Approach 1:
The patent employs a panoramic camera system that provides a universal acquisition method capable of handling all scene types uniformly. The 360-degree panoramic imaging capability allows the same system and processing pipeline to effectively capture both textured environments and special scenes with limited textures (white walls, floors, glass), eliminating the need for scene-specific method switching and reducing reliance on operator expertise while maintaining high feature tracking reliability.
3Area of stationary object
If panoramic cameras are used to acquire 360° images omnidirectionally, then the field angle of view is maximized, but the device complexity increases
Solution Approach 1:
The patent introduces a perspective image sequence generation module as an intermediary between the panoramic camera and the feature tracking algorithm. This intermediary converts the complex 360-degree panoramic images into multiple perspective image sequences that resemble traditional camera views, making the data compatible with existing SLAM and feature tracking pipelines while preserving the omnidirectional coverage benefits, thus reducing the overall system complexity.
Data Source
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AI summary
Embodiments of the present disclosure provides a method and apparatus for constructing a map. An embodiment of the method includes: determining pose information of each panoramic image frame from a panoramic image sequence of a target area, and determining a perspective image sequence from each panoramic image frame; determining a feature track corresponding to the panoramic image sequence based on perspective image sequences corresponding to adjacent panoramic image frames; and constructing a visual map of the target area based on the feature track and the pose information of each panoramic image frame. The method and apparatus for constructing a map provided in the embodiments of the present disclosure, based on determining a perspective image sequence from a panoramic image sequence of a target area, determining a corresponding feature track, and constructing a visual map in combination with pose information of respective panoramic image frames, thereby reducing the difficulty of acquiring an image in the process of constructing the map, and reducing the adverse effect of the quality of the acquired image on the accuracy of constructing the visual map.