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1. 发明申请

US20120120199A1 METHOD FOR DETERMINING THE POSE OF A CAMERA WITH RESPECT TO AT LEAST ONE REAL OBJECT 有权
标题翻译：用于确定相机至少有一个真实对象的位置的方法
公开(公告)号：US20120120199A1
公开(公告)日：2012-05-17
申请号：US13380421
申请日：2009-07-29
申请人： Mohammed Selim Ben Himane
发明人： Mohammed Selim Ben Himane
IPC分类号： H04N13/02 , H04N7/18
CPC分类号： G06T7/0046 , G06T7/75 , G06T2207/30244
摘要： A method for determining the pose of a camera with respect to at least one real object, the method comprises the following steps: operating the camera (1) for capturing a 2-dimensional (or 3-dimensional) image (4) including at least a part of the real object (3), providing a transformation matrix (T) which includes information regarding a correspondence between 3-dimensional points (Pi*) associated with the real object (3) and corresponding 2-dimensional points (or 3-dimensional points) (p,) of the real object (5) as included in the 2-dimensional (or 3-dimensional) image (4), and determining an initial estimate of the transformation matrix (Tl) as an initial basis for an iterative minimization process used for iteratively refining the transformation matrix, determining a Jacobian matrix (J) which includes information regarding the initial estimate of the transformation matrix (Tl) and reference values of 3-dimensional points (Pi*) associated with the real object (3). Further, in the iterative minimization process, in each one of multiple iteration loops determining a respective updated version of the transformation matrix (T) based on a respective previous version of the transformation matrix (T) and based on the Jacobian matrix (J), wherein the Jacobian matrix is not updated during the iterative minimization process, and determining the pose of the camera (1) with respect to the real object (3) using the transformation matrix (T) determined at the end of the iterative minimization process. As a result, the camera pose can be calculated with rather low computational time.
摘要翻译：一种用于确定相机相对于至少一个真实物体的姿势的方法，所述方法包括以下步骤：操作所述照相机（1），用于捕获至少包括至少一个（或多个）二维（或3维）图像（3）的一部分，提供变换矩阵（T），该变换矩阵（T）包括关于与真实对象（3）相关联的3维点（Pi *）与对应的2维点（或3- 包括在二维（或三维）图像（4）中的真实对象（5）的三维点（p），以及将变换矩阵（T1）的初始估计确定为迭代最小化过程，用于迭代地改进变换矩阵，确定雅可比矩阵（J），其包括关于变换矩阵（T1）的初始估计和与真实对象相关联的3维点（Pi *）的参考值的信息 3）。此外，在迭代最小化处理中，在多个迭代循环中的每一个中，基于变换矩阵（T）的相应先前版本并且基于雅可比矩阵（J）来确定变换矩阵（T）的相应更新版本，其中所述雅可比矩阵在所述迭代最小化处理期间不被更新，并且使用在所述迭代最小化处理结束时确定的所述变换矩阵（T）来确定所述相机（1）相对于所述真实对象（3）的姿态。因此，可以用相当低的计算时间来计算相机姿态。

2. 发明授权

US09111347B2 Method for determining the pose of a camera with respect to at least one real object 有权
标题翻译：用于确定相机相对于至少一个真实物体的姿态的方法
公开(公告)号：US09111347B2
公开(公告)日：2015-08-18
申请号：US13380421
申请日：2009-07-29
申请人： Mohammed Selim Ben Himane
发明人： Mohammed Selim Ben Himane
IPC分类号： H04N13/02 , G06T7/00
CPC分类号： G06T7/0046 , G06T7/75 , G06T2207/30244
摘要： A method for determining the pose of a camera with respect to at least one real object, the method comprises the following steps: operating the camera (1) for capturing a 2-dimensional (or 3-dimensional) image (4) including at least a part of the real object (3), providing a transformation matrix (T) which includes information regarding a correspondence between 3-dimensional points (Pi*) associated with the real object (3) and corresponding 2-dimensional points (or 3-dimensional points) (p,) of the real object (5) as included in the 2-dimensional (or 3-dimensional) image (4), and determining an initial estimate of the transformation matrix (Tl) as an initial basis for an iterative minimization process used for iteratively refining the transformation matrix, determining a Jacobian matrix (J) which includes information regarding the initial estimate of the transformation matrix (Tl) and reference values of 3-dimensional points (Pi*) associated with the real object (3). Further, in the iterative minimization process, in each one of multiple iteration loops determining a respective updated version of the transformation matrix (T) based on a respective previous version of the transformation matrix (T) and based on the Jacobian matrix (J), wherein the Jacobian matrix is not updated during the iterative minimization process, and determining the pose of the camera (1) with respect to the real object (3) using the transformation matrix (T) determined at the end of the iterative minimization process. As a result, the camera pose can be calculated with rather low computational time.
摘要翻译：一种用于确定相机相对于至少一个真实物体的姿势的方法，所述方法包括以下步骤：操作所述照相机（1），用于捕获至少包括至少一个（或多个）二维（或3维）图像（3）的一部分，提供变换矩阵（T），该变换矩阵（T）包括关于与真实对象（3）相关联的3维点（Pi *）与对应的2维点（或3- 包括在二维（或三维）图像（4）中的真实对象（5）的三维点（p），以及将变换矩阵（T1）的初始估计确定为迭代最小化过程，用于迭代地改进变换矩阵，确定雅可比矩阵（J），其包括关于变换矩阵（T1）的初始估计和与真实对象相关联的3维点（Pi *）的参考值的信息 3）。此外，在迭代最小化处理中，在多个迭代循环中的每一个中，基于变换矩阵（T）的相应先前版本并且基于雅可比矩阵（J）来确定变换矩阵（T）的相应更新版本，其中所述雅可比矩阵在所述迭代最小化处理期间不被更新，并且使用在所述迭代最小化处理结束时确定的所述变换矩阵（T）来确定所述相机（1）相对于所述真实对象（3）的姿态。因此，可以用相当低的计算时间来计算相机姿态。

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