公开(公告)号：US09996936B2

公开(公告)日：2018-06-12

申请号：US15161055

申请日：2016-05-20

Applicant: QUALCOMM Incorporated

Inventor： Clemens Arth ,  Paul Wohlhart ,  Vincent Lepetit

IPC: G06T17/00 ,  G06T7/10 ,  G06T7/50 ,  G06T7/174 ,  G06T7/136

CPC classification number: G06T7/10 ,  G06T7/136 ,  G06T7/174 ,  G06T7/50 ,  G06T7/75 ,  G06T2207/30244

Abstract: A computer-implemented method, apparatus, computer readable medium and mobile device for determining a 6DOF pose from an input image. The process of determining 6DOF pose may include processing an input image to create one or more static representations of the input image, creating a dynamic representation of the input image from an estimated 6DOF pose and a 2.5D reference map, and measuring correlation between the dynamic representation and the one or more static representations of the input image. The estimated 6DOF may be iteratively adjusted according to the measured correlation error until a final adjusted dynamic representation meets an output threshold.