Real-time camera tracking using depth maps

Abstract

Real-time camera tracking using depth maps is described. In an embodiment depth map frames are captured by a mobile depth camera at over 20 frames per second and used to dynamically update in real-time a set of registration parameters which specify how the mobile depth camera has moved. In examples the real-time camera tracking output is used for computer game applications and robotics. In an example, an iterative closest point process is used with projective data association and a point-to-plane error metric in order to compute the updated registration parameters. In an example, a graphics processing unit (GPU) implementation is used to optimize the error metric in real-time. In some embodiments, a dense 3D model of the mobile camera environment is used.

Description

technical field [0001] The present invention relates to image technology, in particular to camera tracking technology. Background technique [0002] For many applications, it is valuable to be able to track the orientation and position of a camera as it moves through the environment. For example, in robotics, vehicle navigation, computer game applications, medical applications, and other problem domains. Previous approaches have involved using color images captured by a moving camera, identifying features such as lines and edges in those images, and capturing this information in a sequence of color images captured by the camera to try and evaluate relative camera positions. Existing schemes are limited in accuracy, robustness, and speed. However, for many applications, accurate camera tracking is required in real time, for example so that a robot can successfully move around its environment. [0003] The embodiments described below are not limited to implementations that ...

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Problems solved by technology

Existing solutions are limited in accuracy, robustness and speed

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