US 11,842,515 B2
Information processing device, information processing method, and image capturing apparatus for self-position-posture estimation
Jun Gomita, Kanagawa (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Filed by SONY GROUP CORPORATION, Tokyo (JP)
Filed on Feb. 4, 2022, as Appl. No. 17/592,893.
Application 17/592,893 is a continuation of application No. 16/633,235, granted, now 11,257,248, previously published as PCT/JP2018/019567, filed on May 22, 2018.
Claims priority of application No. 2017-149321 (JP), filed on Aug. 1, 2017.
Prior Publication US 2022/0156974 A1, May 19, 2022
Int. Cl. G06T 7/292 (2017.01); G06T 7/73 (2017.01); G06T 7/246 (2017.01)
CPC G06T 7/74 (2017.01) [G06T 7/248 (2017.01); G06T 7/292 (2017.01); G06T 2207/30244 (2013.01)] 6 Claims
OG exemplary drawing
 
1. An information processing device, comprising:
an image capturing unit configured to capture a first plurality of images using a wide-angle camera and a second plurality of images using a narrow-angle camera; and
a central processing unit (CPU) configured to:
detect a first plurality of feature points based on the captured first plurality of images and a second plurality of feature points based on the captured second plurality of images;
select first parallax information for each feature point of the second plurality of feature points that corresponds to the second plurality of images using the narrow-angle camera;
calculate distance of each feature point among the first plurality of feature points and the second plurality of feature points based on the selected first parallax information;
calculate three-dimensional position information based on the calculated distance, wherein the three-dimensional position information indicates position of the first plurality of feature points and the second plurality of feature points in real-space coordinate system; and
acquire a position-posture information based on the calculated three-dimensional position information.