Title:
POSE DETERMINATION METHOD AND APPARATUS, AND COMPUTER-READABLE STORAGE MEDIUM AND ELECTRONIC DEVICE
Document Type and Number:
WIPO Patent Application WO/2024/087927
Kind Code:
A1
Abstract:
The present disclosure relates to the technical field of computer vision. Provided are a pose determination method, a pose determination apparatus, a computer-readable storage medium and an electronic device. The pose determination method comprises: determining a re-projection error of matched feature points between every two images in a first color image set, wherein the first color image set is composed of the current color image frame collected by a first camera and first n color image frames collected by the first camera; in combination with a transformation matrix between a first camera coordinate system of the first camera and a second camera coordinate system of a second camera, determining a re-projection error of matched feature points between every two images in a second color image set, wherein the second color image set is composed of the current color image frame collected by the second camera and first n color image frames collected by the second camera; and on the basis of the determined re-projection errors, determining a target pose of the first camera when collecting the current color image frame. The present disclosure can improve the accuracy and robustness of positioning.
Inventors:
YIN HE (CN)
Application Number:
PCT/CN2023/118752
Publication Date:
May 02, 2024
Filing Date:
September 14, 2023
Export Citation:
Assignee:
GUANGDONG OPPO MOBILE TELECOMMUNICATIONS CORP LTD (CN)
International Classes:
G06T7/73
Domestic Patent References:
| WO2019050417A1 | 2019-03-14 |
Foreign References:
| CN111415387A | 2020-07-14 | |||
| CN114677439A | 2022-06-28 | |||
| CN114998433A | 2022-09-02 |
Attorney, Agent or Firm:
ADVANCE CHINA IP LAW OFFICE (CN)
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