CPC G06T 7/70 (2017.01) [G06T 3/0093 (2013.01); G06T 5/006 (2013.01); G06T 2207/20216 (2013.01)] | 20 Claims |
1. A method of determining a pose of a first wide-angle image using one or more processors, comprising:
dewarping regions of the first wide-angle image;
dewarping regions of a second wide-angle image;
detecting image features in the dewarped regions of the first wide-angle image and in the dewarped regions of the second wide-angle image;
identifying pairs of matching image features between dewarped regions of the first wide-angle image and dewarped regions of the second wide-angle image;
determining relative poses between dewarped regions of the first wide-angle image and dewarped regions of the second wide-angle image having pairs of matching image features;
triangulating pairs of matching image features to generate 3D point locations of the matching image features;
determining estimated poses of the dewarped regions of the first wide-angle image from the 3D point locations of the matching image features; and
deriving a pose of the first wide-angle image from the estimated poses of the dewarped regions of the first wide-angle image.
|