公开(公告)号：US20190096081A1

公开(公告)日：2019-03-28

申请号：US15962757

申请日：2018-04-25

Applicant: Samsung Electronics Co., Ltd.

Inventor： Ankur Gupta ,  Michael Sapienza ,  Fannie Fontanel ,  Abhijit Z. Bendale ,  Pranav Mistry

IPC: G06T7/70 ,  G06T5/00

Abstract: A system for determining and tracking camera pose includes a dynamic vision sensor (DVS) configured to generate a current DVS image, an inertial measurement unit (IMU) configured to generate inertial data, and a memory. The memory is configured to store a 3-dimensional (3D) map of a known 3D environment. The system may also include a processor coupled to the memory. The processor is configured to initiate operations including determining a current camera pose for the DVS based on the current DVS image, the inertial data, the 3D map, and a prior camera pose.

公开(公告)号：US20190096068A1

公开(公告)日：2019-03-28

申请号：US15962841

申请日：2018-04-25

Applicant: Samsung Electronics Co., Ltd.

Inventor： Fannie Fontanel ,  Ankur Gupta ,  Michael Sapienza ,  Abhijit Z. Bendale ,  Pranav Mistry

IPC: G06T7/20

Abstract: A method of camera pose and plane estimation may include detecting a marker within a 3-dimensional (3D) environment by detecting, using a Dynamic Vision Sensor (DVS), a first plurality of light sources arranged in a known shape and blinking at a first frequency, wherein the known shape corresponds to the marker, determining an orientation and an identity of the marker based upon detecting, using the DVS, a second plurality of light sources corresponding to the marker and blinking at a second frequency different from the first frequency. A camera pose for the DVS may be determined based upon the known shape, the orientation, and the identity of the marker using the processor.