公开(公告)号：US09990726B2

公开(公告)日：2018-06-05

申请号：US14430170

申请日：2012-09-27

Applicant: Apple Inc.

Inventor： Marion Langer ,  Peter Meier ,  Selim BenHimane

IPC: G06T7/70 ,  G06T7/80 ,  G06T7/00 ,  H04N7/18 ,  G06K9/62 ,  H04N5/232 ,  G06K9/52

CPC classification number: G06T7/33 ,  G01S5/0247 ,  G01S5/163 ,  G01S19/53 ,  G06K9/3208 ,  G06K9/52 ,  G06K9/6201 ,  G06T5/00 ,  G06T7/251 ,  G06T7/70 ,  G06T7/75 ,  G06T7/80 ,  G06T2207/20036 ,  G06T2207/20101 ,  G06T2207/30244 ,  H04N5/23229 ,  H04N5/23293 ,  H04N7/18 ,  H04N17/002

Abstract: A method of determining a position and orientation of a device is provided. The position and orientation of the device is determined based on multiple degrees of freedom (DoF) and the device is associated with a capturing device for capturing at least one image is provided. The method includes: capturing at least one image of a real object with the capturing device, and providing a coordinate system in relation to the object; providing an estimation of intrinsic parameters of the capturing device; providing pose data to compute first and second DoFs in the coordinate system, with each DoF having a confidence degree; determining an initial pose of the device; performing a pose estimation process, and calculating in the pose estimation process an estimation of the DoFs having a second confidence degree; and determining a position and orientation of the device.