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    • 2. 发明授权
    • Automatic pose estimation from uncalibrated unordered spherical panoramas
    • 来自未校准的无序球面全景的自动姿势估计
    • US08787700B1
    • 2014-07-22
    • US13307272
    • 2011-11-30
    • Mohamed AlyJean-Yves Bouguet
    • Mohamed AlyJean-Yves Bouguet
    • G06K9/46G06K9/62
    • G06T7/0038G06K9/00664G06T7/38G06T7/73G06T2207/10016
    • Methods and systems for automatically generating pose estimates from uncalibrated unordered panoramas are provided. An exemplary method of automatically generating pose estimates includes receiving a plurality of uncalibrated and unordered panoramic images that include at least one interior building image, and extracting, for each panoramic image, feature points. The method includes generating a match matrix for all the panoramic images based on the one or more feature points, constructing a minimal spanning tree based on the match matrix, identifying a first and second panoramic image, based on the minimal spanning tree, wherein the second panoramic image is associated with the first panoramic image providing a navigation from the first panoramic image to the second panoramic image.
    • 提供了用于自动产生未校准的无序全景的姿势估计的方法和系统。 自动产生姿势估计的示例性方法包括:接收多个未校准和无序的全景图像,其包括至少一个室内建筑图像,并且为每个全景图像提取特征点。 该方法包括基于一个或多个特征点为所有全景图像生成匹配矩阵,基于匹配矩阵构建最小生成树,基于最小生成树识别第一和第二全景图像,其中第二个 全景图像与提供从第一全景图像到第二全景图像的导航的第一全景图像相关联。