公开(公告)号：US20230281862A1

公开(公告)日：2023-09-07

申请号：US18315325

申请日：2023-05-10

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Onay Urfalioglu ,  Akhil Gurram ,  Ibrahim Halfaoui

IPC: G06T7/70 ,  G06T7/55

CPC classification number: G06T7/70 ,  G06T7/55 ,  G06T2207/30244 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: A method estimates a camera pose change estimation. The method includes capturing a first image of a scene with a first camera, obtaining a depth map with respect to the first camera based on the first image, capturing a second image of the scene with a second camera. The method also includes obtaining a pose change from the first camera pose to the second camera pose based on the first image and the second image, generating a set of additional pose changes based on the pose change, obtaining a set of reconstructed images and, matching each reconstructed image of the set of reconstructed images with the second image. The method selects a camera pose change estimation from the pose change and the set of additional pose changes that corresponds to a best matching reconstructed image.

公开(公告)号：US12106511B2

公开(公告)日：2024-10-01

申请号：US17473466

申请日：2021-09-13

Applicant: Huawei Technologies Co., Ltd.

Inventor： Onay Urfalioglu ,  Akhil Gurram ,  Fahd Bouzaraa

IPC: G06K9/00 ,  G06T7/73

CPC classification number: G06T7/74 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30244

Abstract: An apparatus for generating a model for pose estimation of a system obtains training data for a multiple locations. The training data includes one or more images captured by an image capturing device and the respective poses of the captured images. At least one data sample is generated from the training data for each of the captured images, where a data sample for an image is an assignment of the image and at least one other image selected from the training data to respective poses. A neural network is trained with a data set made up of the data samples to estimate a respective pose of a localization image from: the localization image; at least one additional image from the training data; and a respective pose of each of additional image.