公开(公告)号：US20140267608A1

公开(公告)日：2014-09-18

申请号：US14350983

申请日：2012-10-09

Applicant: UNIVERSITE BLAISE PASCA-CLERMONT II ,  UNIVERSITE D'AUVERGNE CLERMONT I ,  CENTRE NATONAL DE LA RECHERCHE SCIENTIFIQUE (C.N.R.S.)

Inventor： Michel Dhome ,  Eric Royer ,  Maxime Lhuilier ,  Datta Ramadasan ,  Nadir Karam ,  Clément Deymier ,  Vadim Litvinov ,  Hicham Hadj Abdelkader ,  Thierry Chateau ,  Jean-Mare Lavest ,  François Marmoiton ,  Serge Alizon ,  Laurent Malatere ,  Pierre Lebraly

IPC: G06T19/00 ,  H04N7/18 ,  H04N13/02

CPC classification number: G06T19/003 ,  G06T7/579 ,  G06T7/80 ,  G06T2207/10016 ,  G06T2207/20016 ,  G06T2207/30244 ,  G06T2207/30252 ,  H04N7/181 ,  H04N13/282

Abstract: This method of calibration comprising the reconstruction of a 3D mapping of 3D landmarks of an environment on the basis of digital images of the environment captured by the computer-based vision system (10) during the movement of the craft (2) along a trajectory. It comprises the optimization of at least one 3D mapping corresponding to a first sequence of images by considering at least one extrinsic parameter and/or at least one intrinsic parameter and/or at least one parameter of poses and/or one parameter of 3D landmarks as constant and the optimization of at least one 3D mapping corresponding to a second sequence of images, longer than the first image sequence and including the first image sequence, by considering said at least one extrinsic parameter and/or said at least one intrinsic parameter and/or said at least one parameter of poses and/or said at least one parameter of 3D landmarks as variable so as to estimate it.

Abstract translation: 这种校准方法包括基于由飞行器（2）沿轨迹移动期间由基于计算机的视觉系统（10）捕获的环境的数字图像重建环境的3D地标的3D映射。 它包括通过考虑至少一个外在参数和/或至少一个固有参数和/或3D地标的姿势和/或一个参数的至少一个参数来优化对应于第一图像序列的至少一个3D映射，如 通过考虑所述至少一个外在参数和/或所述至少一个固有参数和/或所述至少一个固有参数和/或所述至少一个固有参数和/或所述至少一个固有参数和/ 或所述姿势的至少一个参数和/或3D地标的所述至少一个参数是可变的，以便对其进行估计。