Camera pose determination and tracking
AssigneeSamsung Electronics Co., Ltd.
InventorsAnkur Gupta, Michael Sapienza, Fannie Fontanel, Abhijit Z. Bendale, Pranav Mistry
Life of this patent
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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.
Claims27
A system, comprising:
- a dynamic vision sensor (DVS) configured to generate a current DVS image;
- an inertial measurement unit (IMU) configured to generate inertial data;
- a memory configured to store a 3-dimensional (3D) map of a known 3D environment;
- and
- a processor coupled to the memory, wherein 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.
A method, comprising:
- generating, using a dynamic vision sensor (DVS), a current DVS image;
- generating, using an inertial measurement unit (IMU), inertial data;
- retrieving, using a processor, at least a portion of a 3-dimensional (3D) map of a known 3D environment from a memory;
- and
- determining, using the processor, a current camera pose for the DVS based on the current DVS image, the inertial data, the 3D map, and a prior camera pose.
A computer program product, comprising:
- a computer readable storage medium having program code stored thereon, the program code executable by computer hardware to initiate operations including:
- generating a current Dynamic Vision Sensor (DVS) image;
- generating inertial data;
- retrieving at least a portion of a 3-dimensional (3D) map of a known 3D environment from a memory;
- and
- 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.
Dependencies are inferred from the claim text.