公开(公告)号：US20150161441A1

公开(公告)日：2015-06-11

申请号：US14564517

申请日：2014-12-09

Applicant: Google Inc.

Inventor： Craig Lewin Robinson ,  Arunachalam Narayanaswamy ,  Marco Zennaro

IPC: G06K9/00 ,  G06K9/52

CPC classification number: G06K9/00791 ,  G06K9/00637 ,  G06K9/00818 ,  G06K9/4652

Abstract: Camera pose optimization, which includes determining the position and orientation of a camera in three-dimensional space at different times, is improved by detecting a higher-confidence reference object in the photographs captured by the camera and using the object to increase consistency and accuracy of pose data. Higher-confidence reference objects include objects that are stationary, fixed, easily recognized, and relatively large. In one embodiment, street level photographs of a geographic area are collected by a vehicle with a camera. The captured images are geo-coded using GPS data, which may be inaccurate. The vehicle drives in a loop and captures the same reference object multiple times from the substantially same position. The trajectory of the vehicle is then closed by aligning the points of multiple images where the trajectory crosses itself. This creates an additional constraint on the pose data, which in turn improves the data's consistency and accuracy.

Abstract translation: 通过在相机拍摄的照片中检测更高置信度的参考对象并使用该对象来提高摄像机在不同时间的三维空间中的位置和姿态，从而提高相机姿态优化，从而提高一致性和准确性 姿态数据。 更高信度的参考对象包括固定，固定，容易识别和相对较大的对象。 在一个实施例中，由具有照相机的车辆收集地理区域的街道照片。 捕获的图像使用GPS数据进行地理编码，这可能不准确。 车辆循环驱动并从基本相同的位置多次捕获相同的参考对象。 然后通过对齐轨迹穿过自身的多个图像的点来关闭车辆的轨迹。 这对姿态数据产生了额外的约束，从而提高了数据的一致性和准确性。