Patent ID: 9208563
Filing Date: 2015-12-08
Classification: G06T

Abstract:
1. A method for determining a parameter set which is designed to be used for at least one of determining the pose of a camera with regard to at least one real object or for determining a three-dimensional structure of the at least one real object, comprising the steps of: providing a reference image including at least a part of the at least one real object, capturing at least one current image including at least a part of the at least one real object, providing an initial estimate of a parameter set which is including at least the three-dimensional translation in the common coordinate system between the pose of the camera when capturing the reference image and the pose of the camera when capturing the current image, and the depth of at least a first point of the at least one real object in the common coordinate system, and determining an update of the estimate of the parameter set by means of an iterative minimization process, wherein in the iterative minimization process a first set of pixels in the reference image is compared with a computed set of pixels in the current image and the computed set of pixels in the current image used for the comparison varies at each iteration, wherein the three-dimensional structure of the at least one real object is parameterized in form of a piece-wise planar structure.