Device pose estimation using 3d line clouds
AssigneeMicrosoft Technology Licensing, LLC
InventorsSudipta Narayan SINHA, Pablo Alejandro SPECIALE, Sing Bing KANG, Marc Andre Leon POLLEFEYS
Life of this patent
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Abstract
Computing devices and methods for estimating a pose of a user computing device are provided. In one example a 3D map comprising a plurality of 3D points representing a physical environment is obtained. Each 3D point is transformed into a 3D line that passes through the point to generate a 3D line cloud. A query image of the environment captured by a user computing device is received, the query image comprising query features that correspond to the environment. Using the 3D line cloud and the query features, a pose of the user computing device with respect to the environment is estimated.
Claims20
A computing device, comprising:
- a processor;
- and
- a memory holding instructions executable by the processor to:
- obtain a three-dimensional map comprising a plurality of three-dimensional points representing a physical environment;
- transform each three-dimensional point into a three-dimensional line that passes through the point to generate a three-dimensional line cloud;
- receive a query image of the physical environment captured by a user computing device, the query image comprising a plurality of query features that correspond to at least a portion of the physical environment;
- and
- using the three-dimensional line cloud and the plurality of query features, estimate a pose of the user computing device with respect to the physical environment.
A method, comprising:
- obtaining a three-dimensional map comprising a plurality of three-dimensional points representing a physical environment;
- transforming each three-dimensional point into a three-dimensional line that passes through the point to generate a three-dimensional line cloud;
- receiving a query image of the physical environment captured by a user computing device, the query image comprising a plurality of query features that correspond to at least a portion of the physical environment;
- and
- using the three-dimensional line cloud and the plurality of query features, estimating a pose of the user computing device with respect to the physical environment.
A computing device, comprising:
- a processor;
- and
- a memory holding instructions executable by the processor to:
- obtain a three-dimensional map comprising a plurality of three-dimensional points representing a physical environment;
- transform each three-dimensional point into a three-dimensional plane that contains the point to generate a three-dimensional plane cloud;
- receive at least one query image of the physical environment captured by an image capture device of a user computing device, the at least one query image comprising a plurality of query features that correspond to at least a portion of the physical environment;
- and
- using the three-dimensional plane cloud and the plurality of query features of the at least one query image, estimate a pose of the user computing device with respect to the physical environment.
Dependencies are inferred from the claim text.