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PTAM camera tracking method and device

A tracking device and camera technology, applied in image enhancement, image analysis, image data processing, etc., can solve unreliable problems, achieve high robustness, and improve tracking stability

Active Publication Date: 2016-04-20
新浪技术(中国)有限公司
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AI Technical Summary

Problems solved by technology

In the camera tracking thread of PTAM, feature point matching search is an important part of camera pose estimation. In the implementation of PTAM technology, the system uses the matching based on the pixel difference sum of squares (SSD, Sum of Squared Differences) description method for feature point matching, but we It was found that the method becomes unreliable in the case of fast camera movement or lighting changes

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  • PTAM camera tracking method and device

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Embodiment Construction

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0027] Such as figure 1 Shown is a flow chart of a parallel tracking and mapping PTAM camera tracking method according to an embodiment of the present invention, the method comprising:

[0028] 101. Acquire the estimated pose of the camera in the current image frame according to the image information input by the camera;

[0029] 102. According to the estimated pose of the camera in the current image frame, project the 3D feature points with known positions i...

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Abstract

The embodiment of the invention provides a PTAM camera tracking method and device. The method comprises steps of: acquiring an estimated attitude of the camera at a current image frame according to image information input into the camera; projecting the three dimensional feature points of known positions in a real scene onto the image plane of the camera according to the estimated attitude of the camera at the current image frame, matching feature points by using an improved independent binary robust primary characteristic I-BRIEF algorithm, and computing the real attitude of the camera at the current image frame; matching the estimated attitude of the camera at the current image frame and the real attitude of the camera at the current image frame in order to acquires a matching result; and adjusting the attitude of the camera by using the matching result in order to achieve the image tracking of the camera. The method and the device may improve the tracking capability of a fast-moving camera system with variable light illumination and have high robustness.

Description

technical field [0001] The invention relates to the technical field of camera tracking and mapping, in particular to a PTAM (Parallel tracking and mapping, parallel tracking and mapping) camera tracking method and device. Background technique [0002] SLAM (Simultaneous Localization and Mapping), also known as simultaneous positioning and mapping technology, was first proposed by Smith, Self and Cheeseman in 1988. Due to its important theoretical and application value, it is considered by many scholars to be the key to realizing a truly fully autonomous mobile robot. The SLAM problem can be described as: the robot starts to move from an unknown position in an unknown environment, locates itself according to position estimation and maps during the movement process, and builds an incremental map based on its own positioning to realize the autonomous positioning and positioning of the robot. navigation. [0003] In the SLAM framework, there are two core steps, one is to obtai...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
CPCG06T2207/10016G06T2207/10021
Inventor 刘洁
Owner 新浪技术(中国)有限公司
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