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1. WO2020107931 - POSE INFORMATION DETERMINATION METHOD AND APPARATUS, AND VISUAL POINT CLOUD CONSTRUCTION METHOD AND APPARATUS

Publication Number WO/2020/107931
Publication Date 04.06.2020
International Application No. PCT/CN2019/099207
International Filing Date 05.08.2019
IPC
G06T 7/70 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
70Determining position or orientation of objects or cameras
G06T 17/00 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
173D modelling for computer graphics
G01C 11/12 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
11Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
04Interpretation of pictures
06by comparison of two or more pictures of the same area
12the pictures being supported in the same relative position as when they were taken
CPC
G01C 11/12
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
11Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
04Interpretation of pictures
06by comparison of two or more pictures of the same area
12the pictures being supported in the same relative position as when they were taken
G06T 17/00
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
17Three dimensional [3D] modelling, e.g. data description of 3D objects
G06T 2207/30244
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
30Subject of image; Context of image processing
30244Camera pose
G06T 7/70
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
70Determining position or orientation of objects or cameras
Applicants
  • 南京人工智能高等研究院有限公司 NANJING INSTITUTE OF ADVANCED ARTIFICIAL INTELLIGENCE, LTD. [CN]/[CN]
Inventors
  • 颜沁睿 YAN, Qinrui
  • 杨帅 YANG, Shuai
Agents
  • 南京新慧恒诚知识产权代理有限公司 NANJING XINHUIHENGCHENG INTELLECTUAL PROPERTY AGENT CO., LTD
Priority Data
201811459199.930.11.2018CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) POSE INFORMATION DETERMINATION METHOD AND APPARATUS, AND VISUAL POINT CLOUD CONSTRUCTION METHOD AND APPARATUS
(FR) PROCÉDÉ ET APPAREIL DE DÉTERMINATION D'INFORMATIONS DE POSE, ET PROCÉDÉ ET APPAREIL DE CONSTRUCTION DE NUAGE DE POINTS VISUELS
(ZH) 位姿信息确定方法和装置、视觉点云构建方法和装置
Abstract
(EN)
Disclosed are a pose information determination method and apparatus, and a visual point cloud construction method and a visual point cloud construction apparatus. The pose information determination method comprises: determining relative pose information of an image acquisition device when acquiring a current frame of image relative to the image acquisition device when acquiring a previous frame of image; determining, by means of a sensor having an absolute scale, a first group of translation parameters of movement of the image acquisition device during acquisition of the current frame of image and the previous frame of image; based on the relative pose information and the first group of translation parameters, adjusting the relative pose information; and based on the adjusted relative pose information, determining pose information of the image acquisition device when acquiring the current frame of image. By means of the pose information determination method, a scale of an external sensor is directly used to perform scale correction on a translation vector of pose information of a camera, so as to obtain more accurate pose information.
(FR)
L'invention concerne un procédé et un appareil de détermination d'informations de pose, un procédé de construction de nuage de points visuels et un appareil de construction de nuage de points visuels. Le procédé de détermination d'informations de pose consiste à : déterminer des informations de pose relative d'un dispositif d'acquisition d'image lors de l'acquisition d'une trame d'image courante par rapport au dispositif d'acquisition d'image lors de l'acquisition d'une trame d'image précédente; déterminer, au moyen d'un capteur ayant une échelle absolue, un premier groupe de paramètres de translation de mouvement du dispositif d'acquisition d'image lors de l'acquisition de la trame d'image courante et de la trame d'image précédente; sur la base des informations de pose relative et du premier groupe de paramètres de translation, ajuster les informations de pose relative; et sur la base des informations de pose relative ajustées, déterminer des informations de pose du dispositif d'acquisition d'image lors de l'acquisition de la trame d'image courante. Au moyen du procédé de détermination d'informations de pose, une échelle d'un capteur externe est directement utilisée pour effectuer une correction d'échelle sur un vecteur de translation d'informations de pose d'une caméra, de façon à obtenir des informations de pose plus précises.
(ZH)
公开了一种位姿信息确定方法和确定装置、视觉点云构建方法和视觉点云构建装置。一种位姿信息确定方法包括确定图像获取设备在获取当前帧图像时相对于获取先前帧图像时的相对位姿信息;通过带有绝对尺度的传感器确定所述图像获取设备在获取所述当前帧与先前帧图像期间运动的第一组平移参数;基于所述相对位姿信息和第一组平移参数,调整所述相对位姿信息;以及基于调整后的所述相对位姿信息,确定所述图像获取设备在获取当前帧图像时的位姿信息。采用上述位姿信息确定方法,直接使用外部传感器的尺度对相机的位姿信息的平移向量进行尺度校正,得到更准确的位姿信息。
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