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1. WO2021018690 - METHOD FOR DETERMINING AN ENVIRONMENTAL MODEL OF A SCENE

Publication Number WO/2021/018690
Publication Date 04.02.2021
International Application No. PCT/EP2020/070680
International Filing Date 22.07.2020
IPC
G06K 9/00 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
G06K 9/62 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
62Methods or arrangements for recognition using electronic means
G06T 7/00 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
CPC
G06K 9/00664
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
00664Recognising scenes such as could be captured by a camera operated by a pedestrian or robot, including objects at substantially different ranges from the camera
G06K 9/00791
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
G06K 9/6211
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
62Methods or arrangements for recognition using electronic means
6201Matching; Proximity measures
6202Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
6203Shifting or otherwise transforming the patterns to accommodate for positional errors
6211Matching configurations of points or features, e.g. constellation matching
G06T 2207/10016
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10016Video; Image sequence
G06T 7/579
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
50Depth or shape recovery
55from multiple images
579from motion
G06T 7/73
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
70Determining position or orientation of objects or cameras
73using feature-based methods
Applicants
  • CONTINENTAL AUTOMOTIVE GMBH [DE]/[DE]
Inventors
  • XU, Linkun
  • GAO, Bingtao
  • WANG, Guangfu
  • THIEL, Christian
Agents
  • LOHR, JÖSTINGMEIER & PARTNER
Priority Data
10 2019 211 407.531.07.2019DE
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) METHOD FOR DETERMINING AN ENVIRONMENTAL MODEL OF A SCENE
(FR) PROCÉDÉ DE DÉTERMINATION D'UN MODÈLE ENVIRONNEMENTAL D'UNE SCÈNE
Abstract
(EN)
A method for determining an environmental model of a scene, comprises a step of capturing a plurality of frames of the scene by a camera, and a step of evaluating the images by a simultaneous localization and mapping process (SLAM). The simultaneous localization and mapping process comprises at least the following steps of: A portion of feature points is matched between the frames. The portion of the feature points is selected in dependence on a classification of the feature points. A 3D model of the scene is generated based on the matched feature points, the 3D model being construed as a 3D point cloud.
(FR)
L'invention concerne un procédé de détermination d'un modèle environnemental d'une scène, qui comprend une étape de capture d'une pluralité de trames de la scène par une caméra, et une étape d'évaluation des images par un procédé de localisation et de cartographie simultanées (SLAM). Le procédé de localisation et de cartographie simultanées comprend au moins les étapes suivantes : Une partie de points caractéristiques est mise en correspondance entre les trames. La partie des points caractéristiques est sélectionnée en fonction d'une classification des points caractéristiques. Un modèle 3D de la scène est généré sur la base des points caractéristiques appariés, le modèle 3D étant interprété comme un nuage de points 3D.
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