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Method and device for generating pose estimation model

A pose estimation and model technology, applied in the computer field, can solve the problems of high labor cost, relying on manual initial acquisition, time-consuming, etc., and achieve the effect of improving accuracy

Active Publication Date: 2020-09-01
REALSEE (BEIJING) TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The main problem with this solution is that it relies on manual initial acquisition of poses.
This process is time-consuming and labor-intensive

Method used

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  • Method and device for generating pose estimation model
  • Method and device for generating pose estimation model
  • Method and device for generating pose estimation model

Examples

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Embodiment Construction

[0033] Hereinafter, exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited by the exemplary embodiments described here.

[0034] It should be noted that relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0035] Those skilled in the art can understand that terms such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc. necessary logical sequence.

[0036] It should also be understood that in the embodiments of the present disclosure, "...

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Abstract

The embodiment of the invention discloses a method and device for generating a pose estimation model. The method comprises the steps of obtaining a training sample set; for each training sample in thetraining sample set, determining whether the training sample meets a preset condition or not, if yes, generating annotation information representing that the point cloud data corresponding to the training sample can be spliced, and if not, generating annotation information representing that the point cloud data corresponding to the training sample cannot be spliced; and taking the two panoramas included in the training sample in the training sample set as the input of the initial model, taking the preset camera pose parameters and the annotation information corresponding to the two input panoramas as the expected output of the initial model, and training to obtain a pose estimation model. According to the embodiment of the invention, the trained pose estimation model can accurately estimate the relative poses of the cameras of the two shooting points, and accurately determine whether the two sets of point clouds can be spliced or not, thereby facilitating the improvement of the accuracy of point cloud splicing.

Description

technical field [0001] The present disclosure relates to the field of computer technology, in particular to a method and device for generating a pose estimation model, a method and device for estimating a camera pose, and a computer-readable storage medium and electronic equipment. Background technique [0002] The reconstruction of the house is a process in which the local point cloud models of multiple points are spliced ​​and fused to obtain a 3D point cloud model of the entire house. The most important thing in this process is to obtain the relative pose (including angle rotation (rotation, R) and position translation (transform, T) between adjacent shooting points. At present, the commonly used method is still the human-computer interaction scheme, namely The photographer manually drags the point cloud modules of the two captured points to stitch together to obtain the initial pose, and then uses the IterativeClosest Point (ICP) algorithm to fine-tune the pose of the tw...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/77G06T7/30
CPCG06T7/77G06T7/30G06T2207/10028G06T2207/20081G06T2207/20084G06T2207/30244
Inventor 刘程林
Owner REALSEE (BEIJING) TECHNOLOGY CO LTD
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