Title:
LOW-DIMENSIONAL BUNDLE ADJUSTMENT CALCULATION METHOD AND SYSTEM
Document Type and Number:
WIPO Patent Application WO/2018/214179
Kind Code:
A1
Abstract:
A low-dimensional bundle adjustment calculation method and system. The method comprises: determining an initial value of a motion parameter; performing optimization calculation on an objective function of the motion parameter to acquire an optimized motion parameter; and calculating coordinates of a three-dimensional scene point according to the optimized motion parameter. By representing depth of field of multiple views as a function of relative motion parameters of every two views, directly restoring motion parameters from multiple views is achieved. The motion parameters are then analyzed to acquire coordinates of a three-dimensional scene point, thereby removing the coordinates of the three-dimensional scene point from a bundle adjustment parameter optimization process, significantly reducing spatial dimensions of parameters. The method is a low-dimensional bundle adjustment method having simple initialization, good robustness, a fast calculation speed and higher calculation precision. The present invention can be used as a core calculation engine for applications such as unmanned vehicle/unmanned aircraft visual navigation, visual three-dimensional reconstruction and augmented reality.
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Inventors:
WU YUANXIN (CN)
CAI QI (CN)
YU WENXIAN (CN)
CAI QI (CN)
YU WENXIAN (CN)
Application Number:
PCT/CN2017/087500
Publication Date:
November 29, 2018
Filing Date:
June 07, 2017
Export Citation:
Assignee:
UNIV SHANGHAI JIAOTONG (CN)
International Classes:
G06T17/00
Foreign References:
| CN106157367A | 2016-11-23 | |||
| CN106097436A | 2016-11-09 | |||
| CN106408653A | 2017-02-15 | |||
| CN103985154A | 2014-08-13 | |||
| CN104881869A | 2015-09-02 |
Attorney, Agent or Firm:
SHANGHAI HANGSOME INTELLECTUAL PROPERTY LTD. (CN)
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