Title:
CAMERA POSE DETERMINATION AND TRACKING
Document Type and Number:
WIPO Patent Application WO/2019/066563
Kind Code:
A1
Abstract:
A system for determining and tracking camera pose includes a dynamic vision sensor (DVS) configured to generate a current DVS image, an inertial measurement unit (IMU) configured to generate inertial data, and a memory. The memory is configured to store a 3-dimensional (3D) map of a known 3D environment. The system may also include a processor coupled to the memory. The processor is configured to initiate operations including determining a current camera pose for the DVS based on the current DVS image, the inertial data, the 3D map, and a prior camera pose.
Inventors:
GUPTA ANKUR (US)
SAPIENZA MICHAEL (US)
FONTANEL FANNIE (US)
BENDALE ABHIJIT Z (US)
MISTRY PRANAV (US)
SAPIENZA MICHAEL (US)
FONTANEL FANNIE (US)
BENDALE ABHIJIT Z (US)
MISTRY PRANAV (US)
Application Number:
PCT/KR2018/011545
Publication Date:
April 04, 2019
Filing Date:
September 28, 2018
Export Citation:
Assignee:
SAMSUNG ELECTRONICS CO LTD (KR)
International Classes:
G06T7/292; G06T7/73; G06T7/90
Foreign References:
| US20160267662A1 | 2016-09-15 | |||
| US20150279083A1 | 2015-10-01 | |||
| US20090295791A1 | 2009-12-03 | |||
| US20140369557A1 | 2014-12-18 | |||
| US20170213105A1 | 2017-07-27 | |||
| US20170124693A1 | 2017-05-04 |
Other References:
"Graduate Program in Earth and Space Science", YORK UNIVERSITY, article "Map-based localization for unmanned aerial vehicle navigation: A dissertation submitted to the Faculty of Graduate Studies in partial fulfillment of the requirements for the Degree of Doctor of Philosophy"
JULIEN LI-CHEE-MING: "That dissertation proposes a solution to address the task of fully localizing a monocular camera with respect to a known environment, for the purpose", UNMANNED AERIAL VEHICLE (UAV, July 2017 (2017-07-01)
ANDREA CENSIDAVIDE SCARAMUZZA: "IEEE International Conference on Robotics and Automation (ICRA", 31 May 2014, IEEE, article "Low-latency event-based visual odometry", pages: 703 - 710
See also references of EP 3639243A4
JULIEN LI-CHEE-MING: "That dissertation proposes a solution to address the task of fully localizing a monocular camera with respect to a known environment, for the purpose", UNMANNED AERIAL VEHICLE (UAV, July 2017 (2017-07-01)
ANDREA CENSIDAVIDE SCARAMUZZA: "IEEE International Conference on Robotics and Automation (ICRA", 31 May 2014, IEEE, article "Low-latency event-based visual odometry", pages: 703 - 710
See also references of EP 3639243A4
Attorney, Agent or Firm:
LEE, Keon-Joo et al. (KR)
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