公开(公告)号：US10990829B2

公开(公告)日：2021-04-27

申请号：US15581953

申请日：2017-04-28

Applicant: EntIT Software LLC

Inventor： Pashmina Cameron ,  David Collier

IPC: G06K9/00 ,  G06T7/579 ,  G06T7/246 ,  G05D1/02 ,  G06K9/62 ,  G06T7/70 ,  G06K9/46

Abstract: In some examples, a camera tracking failure in a simultaneous localization and mapping (SLAM) process with respect to a first SLAM map may be identified. Responsive to identification of the camera tracking failure, a second SLAM map for the SLAM process may be initialized. A video frame tracked through the second SLAM map may be accessed. Matched features between the video frame and individual keyframes of the first SLAM map may be identified to determine a keyframe subset. The keyframe subset may be analyzed to determine a candidate camera position from among the keyframe subset. The candidate camera position may be tracked with respect to the first SLAM map for subsequent video frames. The first SLAM map may be stitched to the second SLAM map responsive to tracking the candidate camera position with respect to the first SLAM map for the subsequent.

公开(公告)号：US20180315201A1

公开(公告)日：2018-11-01

申请号：US15581953

申请日：2017-04-28

Applicant: EntIT Software LLC

Inventor： Pashmina Cameron ,  David Collier

IPC: G06T7/246 ,  G06T7/579 ,  G06K9/00

Abstract: In some examples, a camera tracking failure in a simultaneous localization and mapping (SLAM) process with respect to a first SLAM map may be identified. Responsive to identification of the camera tracking failure, a second SLAM map for the SLAM process may be initialized. A video frame tracked through the second SLAM map may be accessed. Matched features between the video frame and individual keyframes of the first SLAM map may be identified to determine a keyframe subset. The keyframe subset may be analyzed to determine a candidate camera position from among the keyframe subset. The candidate camera position may be tracked with respect to the first SLAM map for subsequent video frames. The first SLAM map may be stitched to the second SLAM map responsive to tracking the candidate camera position with respect to the first SLAM map for the subsequent.