Camera pose determination method and apparatus, and electronic device
AssigneeNanjing Institute of Advanced Artificial Intelligence, Ltd.
InventorQinrui Yan
Life of this patent
Estimating the term…
Abstract
Disclosed are camera pose determination methods and apparatuses. The method includes determining first pixels in a current image and second pixels in a previous image, determining second pixel points with the preconfigured semantics in a previous image frame before the current image frame, the first pixel points corresponding to at least a portion of the second pixel points, determining an error between the first pixel points and the second pixel points, and a camera pose change value of the current image frame relative to the previous image frame based on the error, and determining a camera pose of the current image based on a camera pose of the previous image and the camera pose change. Related devices and storage media are also disclosed.
Claims20
A camera pose determination method comprising:
- determining first pixel points with preconfigured semantics in a current image frame sampled by a camera;
- determining second pixel points with the preconfigured semantics in a previous image frame before the current image frame, the first pixel points corresponding to at least a portion of the second pixel points;
- determining an error between the first pixel points and the second pixel points, the error including a semantic error;
- determining a camera pose change value of the current image frame relative to the previous image frame based on the error;
- and
- determining a camera pose corresponding to the current image frame based on a camera pose corresponding to the previous image frame and the camera pose change value of the current image frame relative to the previous image frame.
(canceled)
An electronic device for performing a camera pose determination comprising:
- a memory configured to store computer program instructions;
- and
- a processor programmed to execute the computer program instructions to cause the electronic device to perform operations including to
- determine first pixel points with preconfigured semantics in a current image frame sampled by a camera,
- determine second pixel points with the preconfigured semantics in a previous image frame before the current image frame, the first pixel points corresponding to at least a portion of the second pixel points,
- determine an error between the first pixel points and the second pixel points, the error including a semantic error,
- determine a camera pose change value of the current image frame relative to the previous image frame based on the error, and
- determine a camera pose corresponding to the current image frame based on a camera pose corresponding to the previous image frame and the camera pose change value of the current image frame relative to the previous image frame.
9-10. (canceled)
A mobile device comprising an electronic device, wherein the electronic device includes:
- a memory configured to store computer program instructions;
- and
- a processor programmed to execute the computer program instructions to cause the electronic device to perform operations including to:
- determine first pixel points with preconfigured semantics in a current image frame sampled by a camera,
- determine second pixel points with the preconfigured semantics in a previous image frame before the current image frame, the first pixel points corresponding to at least a portion of the second pixel points,
- determine an error between the first pixel points and the second pixel points, the error including a semantic error,
- determine a camera pose change value of the current image frame relative to the previous image frame based on the error, and
- determine a camera pose corresponding to the current image frame based on a camera pose corresponding to the previous image frame and the camera pose change value of the current image frame relative to the previous image frame.
Dependencies are inferred from the claim text.