Hypotheses line mapping and verification for 3D maps
AssigneeQUALCOMM Incorporated
InventorsKiyoung Kim, Youngmin Park
Life of this patent
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Abstract
Disclosed are a device, apparatus, and method for performing line mapping. A three-dimensional (3D) map that includes at least a first and a second 3D line corresponding to an aspect of a real world environment may be obtained. One or more images of the aspect may also be obtained and hypotheses 3D lines may be determined. The hypothesis 3D lines may be verified with the one or more images and the 3D map may be updated. The determination and verification of the hypothesis 3D lines may include creating a plane in 3D space and using co-planarity or orthogonality assumptions.
Claims24
A computer-implemented method of line mapping, the method comprising:
- obtaining a three-dimensional (3D) map that includes at least a first and a second 3D line corresponding to one or more aspects of a real world environment;
- obtaining a first one or more images that include at least a portion of the one or more aspects;
- generating one or more hypotheses 3D lines according to a combination of the 3D map and the first one or more images;
- obtaining a second one or more images that include at least a portion of the one or more aspects, wherein the second one or more images captured from a different position than the first one or more images;
- and
- verifying, from second one or more images, at least one of the one or more hypotheses 3D lines correspond to the one or more aspects, wherein verifying the one or more hypotheses 3D lines correspond to the aspect comprises applying an edge filter to the second one or more images to obtain a magnitude of the one or more hypotheses 3D lines.
A machine readable non-transitory storage medium having stored line mapping program instructions executable by a processor to:
- obtain a three-dimensional (3D) map that includes at least a first and a second 3D line corresponding to one or more aspects of a real world environment;
- obtain a first one or more images that include at least a portion of the one or more aspects;
- generate one or more hypotheses 3D lines according to a combination of the 3D map and the first one or more images;
- obtain a second one or more images that include at least a portion of the one or more aspects, wherein the second one or more images captured from a different position than the first one or more images;
- and
- verify, from second one or more images, at least one of the one or more hypotheses 3D lines correspond to the one or more aspects, wherein the instructions to verify the one or more hypotheses 3D lines correspond to the aspect comprises instructions to apply an edge filter to the one or more images to obtain a magnitude of the one or more hypotheses 3D lines.
A device for line mapping, comprising:
- memory;
- a processor coupled to the memory and configured to:
- obtain a three-dimensional (3D) map that includes at least a first and a second 3D line corresponding to one or more aspects of a real world environment;
- obtain a first one or more images that include at least a portion of the one or more aspects;
- generate one or more hypotheses 3D lines according to a combination of the 3D map and the first one or more images;
- obtain a second one or more images that include at least a portion of the one or more aspects, wherein the second one or more images captured from a different position than the first one or more images;
- and
- verify, from second one or more images, at least one of the one or more hypotheses 3D lines correspond to the one or more aspects, wherein the instructions to verify the one or more hypotheses 3D lines correspond to the aspect comprises instructions to apply an edge filter to the one or more images to obtain a magnitude of the one or more hypotheses 3D lines.
An apparatus for performing line mapping, the apparatus comprising:
- means for obtaining a three-dimensional (3D) map that includes at least a first and a second 3D line corresponding to one or more aspects of a real world environment;
- means for obtaining a first one or more images that include at least a portion of the one or more aspects;
- means for generating one or more hypotheses 3D lines according to a combination of the 3D map and the first one or more images;
- means for obtaining a second one or more images that include at least a portion of the one or more aspects, wherein the second one or more images captured from a different position than the first one or more images;
- and
- means for verifying, from second one or more images, at least one of the one or more hypotheses 3D lines correspond to the one or more aspects, wherein the means for verifying the one or more hypotheses 3D lines correspond to the aspect comprises means for applying an edge filter to the one or more images to obtain a magnitude of the one or more hypotheses 3D lines.
Dependencies are inferred from the claim text.