CPC A61B 6/487 (2013.01) [A61B 1/00158 (2013.01); A61B 1/043 (2013.01); A61B 5/055 (2013.01); A61B 5/064 (2013.01); A61B 34/20 (2016.02); A61B 90/36 (2016.02); A61B 90/39 (2016.02); G06T 7/70 (2017.01); G06T 7/73 (2017.01); G06T 7/75 (2017.01); G06T 7/77 (2017.01); A61B 1/0005 (2013.01); A61B 1/042 (2013.01); A61B 6/032 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2090/364 (2016.02); A61B 2090/3983 (2016.02); G06T 2207/10016 (2013.01); G06T 2207/10068 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/10088 (2013.01); G06T 2207/10121 (2013.01); G06T 2207/30021 (2013.01); G06T 2207/30208 (2013.01); G06T 2207/30244 (2013.01)] | 20 Claims |
1. A method for estimating a pose of an imaging device, the method comprising:
generating a probability map based on a captured image of a structure of markers captured by the imaging device;
generating candidates for a possible image of the structure of markers captured by the imaging device corresponding to possible poses of the imaging device, yielding generated candidates;
identifying a candidate from the generated candidates having the highest probability of being the captured image of the structure of markers based on the probability map, yielding an identified candidate; and
estimating the pose of the imaging device for the captured image based on a possible pose of the imaging device corresponding to the identified candidate, yielding an estimated pose.
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