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    IMPROVEMENTS IN DETERMINATION OF AN EGO-MOTION OF A VIDEO APPARATUS IN A SLAM TYPE ALGORITHM
    2.
    发明公开
    IMPROVEMENTS IN DETERMINATION OF AN EGO-MOTION OF A VIDEO APPARATUS IN A SLAM TYPE ALGORITHM 审中-公开
    SLAM算法中视频设备EGO运动的改进

    公开(公告)号：EP3182373A1

    公开(公告)日：2017-06-21

    申请号：EP16199463.7

    申请日：2016-11-18

    申请人： STmicroelectronics SA ,  Association pour la Recherche et le Développement des Méthodes et Processus Industriels (ARMINES)

    发明人： Alibay, Manu ,  Auberger, Stéphane ,  Stanciulescu, Bogdan-Florin

    IPC分类号： G06T7/73

    CPC分类号： G06T7/70 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/20076 ,  G06T2207/30196 ,  G06T2207/30244

    摘要： Method for estimating an ego-motion of an apparatus between a first image (FR1) and a second image (FR2) of a succession of images captured by said apparatus, in a SLAM type algorithm containing a localization part (S10) including said ego-motion estimating (S100) and a mapping part. Said ego-motion comprises a 3D rotation of the apparatus and a position variation of the apparatus in the 3D space, and said ego-motion estimating (S100) comprises performing a first part (S1000) and performing a second part (S1001) after having performed said first part, said first part including estimating said 3D rotation of said apparatus and said second part including, said 3D rotation having been estimated, estimating said position variation of the apparatus in the 3D space.

    摘要翻译： 用于在包含定位部分（S10）的SLAM类型算法中估计由所述设备捕获的图像的连续图像中的第一图像（FR1）和第二图像（FR2）之间的设备的自我运动的方法， 运动估计（S100）和映射部分。 所述自我运动包括设备的3D旋转和设备在3D空间中的位置变化，并且所述自我运动估计（S100）包括执行第一部分（S1000）和执行第二部分（S1001） 所述第一部分包括估计所述设备和所述第二部分的所述3D旋转，所述第二部分包括已估计所述3D旋转，估计所述设备在所述3D空间中的所述位置变化。

    METHOD AND DEVICE FOR GENERATING BINARY DESCRIPTORS IN VIDEO FRAMES
    3.
    发明公开
    METHOD AND DEVICE FOR GENERATING BINARY DESCRIPTORS IN VIDEO FRAMES 审中-公开
    用于在视频帧中生成二进制描述符的方法和设备

    公开(公告)号：EP3182370A1

    公开(公告)日：2017-06-21

    申请号：EP16199465.2

    申请日：2016-11-18

    申请人： STmicroelectronics SA ,  Association pour la Recherche et le Développement des Méthodes et Processus Industriels (ARMINES)

    发明人： Alibay, Manu ,  Auberger, Stéphane ,  Stanciulescu, Bogdan-Florin

    IPC分类号： G06T7/246 ,  G06K9/46

    摘要： The device (12) comprises generating means (120) configured to generate a binary descriptor associated with a given point in a current frame of a succession of video frames obtained by an apparatus such as an image sensor (10), said generating means comprising first means configured to determine a pattern of points pairs around said given point in the current frame, and comparison means configured to perform intensity comparison processing between the two points of each pair. Said apparatus (10) is likely to move in a rotation between the previous frame and the current frame, and said generating means further comprises processing means configured to process said pattern of points of said current frame with a tridimensional rotation information representative of said apparatus rotation between the previous frame and the current frame and obtained from inertial measurements provided by at least one inertial sensor (11).

    摘要翻译： 该设备（12）包括生成装置（120），被配置为生成与由诸如图像传感器（10）的设备获得的视频帧的连续帧的当前帧中的给定点相关联的二进制描述符，所述生成装置包括第一 被配置为确定当前帧中的所述给定点周围的点对的图案的装置以及被配置为在每对的两点之间执行强度比较处理的比较装置。 所述装置（10）可能在前一帧和当前帧之间旋转移动，并且所述产生装置还包括处理装置，该处理装置被配置为利用表示所述装置旋转的三维旋转信息来处理所述当前帧的所述点的图案 在前一帧和当前帧之间并且由至少一个惯性传感器（11）提供的惯性测量结果获得。