Systems and methods of merging multiple maps for computer vision based tracking
AssigneeQUALCOMM Incorporated
InventorsMahesh Ramachandran, Abhishek Tyagi, Serafin Diaz Spindola
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Abstract
Method, apparatus, and computer program product for merging multiple maps for computer vision based tracking are disclosed. In one embodiment, a method of merging multiple maps for computer vision based tracking comprises receiving a plurality of maps of a scene in a venue from at least one mobile device, identifying multiple keyframes of the plurality of maps of the scene, and merging the multiple keyframes to generate a global map of the scene.
Claims33
A method of merging multiple maps for computer vision based tracking, comprising:
- receiving a plurality of maps of a scene in a venue from at least one mobile device;
- identifying multiple keyframes of the plurality of maps of the scene;
- and
- merging the multiple keyframes to generate a global map of the scene, wherein merging the multiple keyframes to generate the global map of the scene comprises:
- for each keyframe of the multiple keyframes,
- determining a contribution score based on angular diversity of the keyframe and scale diversity of the keyframe, and
- eliminating the keyframe in response to the contribution score being below a predetermined threshold.
An apparatus, comprising:
- logic configured to receive a plurality of maps of a scene in a venue from at least one mobile device;
- logic configured to identify multiple keyframes of the plurality of maps of the scene;
- and
- logic configured to merge the multiple keyframes to generate a global map of the scene, wherein the logic configured to merge the multiple keyframes to generate the global map of the scene comprises:
- for each keyframe of the multiple keyframes,
- logic configured to determine a contribution score based on angular diversity of the keyframe and scale diversity of the keyframe, and
- logic configured to eliminate the keyframe in response to the contribution score being below a predetermined threshold.
A computer program product comprising a non-transitory medium storing instructions for execution by one or more computer systems, the instructions comprising:
- instructions for receiving a plurality of maps of a scene in a venue from at least one mobile device;
- instructions for identifying multiple keyframes of the plurality of maps of the scene;
- and
- instructions for merging the multiple keyframes to generate a global map of the scene, wherein the instructions for merging the multiple keyframes to generate the global map of the scene comprises:
- for each keyframe of the multiple keyframes,
- instructions for determining a contribution score based on angular diversity of the keyframe and scale diversity of the keyframe, and
- instructions for eliminating the keyframe in response to the contribution score being below a predetermined threshold.
A system, comprising:
- means for receiving a plurality of maps of a scene in a venue from at least one mobile device;
- means for identifying multiple keyframes of the plurality of maps of the scene;
- and
- means for merging the multiple keyframes to generate a global map of the scene, wherein the means for merging the multiple keyframes to generate the global map of the scene comprises:
- for each keyframe of the multiple keyframes,
- means for determining a contribution score based on angular diversity of the keyframe and scale diversity of the keyframe, and
- means for eliminating the keyframe in response to the contribution score being below a predetermined threshold.
Dependencies are inferred from the claim text.