Sony Computer Entertainment Europe Limited

Sony Interactive Entertainment Europe Limited

Antonio Martini

A method generates a three-dimensional map of a region from successive images of that region captured from different camera poses. The method captures successive images of the region, detects a gravitational vertical direction in respect of each captured image, detects feature points within the captured images and designates a subset of the captured images as a set of keyframes each having respective sets of image position data representing image positions of landmark points detected as feature points in that image. The method also includes, for a captured image (i) deriving a camera pose from detected feature points in the image; (ii) rotating the gravitational vertical direction to the coordinates of a reference keyframe using the camera poses derived for that image and the reference keyframe; and (iii) comparing the rotated direction with the actual gravitational vertical direction for the reference keyframe to detect a quality measure of that image.

Localisation and mapping

A method generates a three-dimensional map of a region from successive images of the region captured from different camera poses. The method detects feature points within the captured images and designates a subset of the images as a set of keyframes each having camera pose data and respective sets of measurement data representing image positions of landmark points detected as feature points in that image. The method also includes performing bundle-adjustment to generate bundle-adjusted landmark points by iteratively refining the three dimensional spatial positions of the landmarks and the camera pose data associated with at least a subset of the keyframes. And for a feature point, not corresponding to a bundle-adjusted landmark point, detected at an intervening image which is not a keyframe and present in another intervening image which is not a keyframe, the method generates a non-bundle-adjusted point corresponding to that feature point and derives a camera pose.

A method of detecting the presence of a building in a captured image is provided. The method includes dividing the captured image into a plurality of image regions, detecting a dominant angle of detected edges within each image region, and detecting the presence of a building in an image region if the dominant angle of detected edges within that image region, excluding edges within a first threshold angle of vertical, is within a second threshold angle of horizontal and if the distribution of detected edges within the second threshold angle of horizontal is substantially the same as that of at least one adjacent image region.

A method generates a three-dimensional map of a region from successive images captured from different camera poses. The method includes a camera capturing images of the region; designating a subset of captured images as a set of keyframes each having respective sets of image position data representing image positions of landmark points detected as feature points in that image; for a newly captured image, generating a camera pose prediction; selecting an ordering of the landmark points; detecting whether an image region of the new image approximately matches an expected image position of a landmark point based on the predicted camera pose by detecting whether the image region is substantially identical to the image information associated with that landmark point; and refining the pose prediction from the detecting step. The selecting includes performing a statistical test on the landmark points and selecting the ordering according to the statistical test results.

A method generates a three-dimensional map of a region from successive images of that region captured from different positions. The method includes detecting feature points within the captured images; designating a subset of the captured images as a set of keyframes each having respective sets of measurement data representing image positions of landmark points detected as feature points in that image, where each keyframe is connected to at least one other keyframe in the set; and detecting whether candidate measurement data associated with a keyframe may be removed from the set of measurement data for that keyframe by detecting whether each keyframe, in the set of keyframes without the candidate measurement data, is still directly or indirectly connected to all of the other keyframes in the set of keyframes by a sequence of one or more connections. And in this case, the method includes removing that candidate measurement data.

Growing community of inventors

London, United Kingdom

Antonio Martini