Verity Ag

Fabio Rossetto

Markus Florian Hehn

Luciano Beffa

The invention relates to a method for determining a state x() of a camera () at a time t, the state x() being a realization of a state random variable X, wherein the state is related to a state-space model of a movement of the camera (). The method comprises the following steps: a) receiving an image () of a scene of interest () in an indoor environment () captured by the camera () at the time t, wherein the indoor environment () comprises N landmarks () having known positions in a world coordinate system (), N being a natural number; b) receiving a state estimate x{circumflex over ( )}() of the camera () at the time t, c) determining () positions of M features in the image (), M being a natural number; d) receiving () distance data indicative of distance between the M features and the corresponding M landmarks (), respectively; e) determining () an injective mapping estimate from the M features into the set of the N landmarks () using at least (i) the positions of the M features in the image and (ii) the state estimate (); f) using the determined injective mapping estimate () to set up () an observation model in the state-space model, wherein the observation model is configured for mapping the state random variable Xof the camera onto a joint observation random variable Z, wherein at the time t, an observation zis a realization of the joint observation random variable Z, and wherein the observation zcomprises (i) the position of at least one of the M features in the image, and (ii) the distance data indicative of distance; and g) using () (i) the state estimate, (ii) the observation model, and (iii) the observation z, to determine the state x() of the camera at the time t. The invention also relates to a computer program product and to an assembly.

Method and system for determining a state of a camera

According to the present invention there is provide a method a method for matching features in an image with landmark representations in a landmark map, the method comprising: providing at least one image; extracting from the image one or more features; providing a landmark map comprising a list of landmark representations, wherein each landmark representation is a representation of a respective physical landmark; creating a plurality of policies, each policy comprising at least one matching decision of the feature and the landmark representation, each matching decision having a stage cost; assigning a policy cost to each of the policies, wherein the policy cost is a function of the stage costs of the matching decisions the policy is comprised of; selecting from the collection of the policies the policy with the desired policy cost. There is further provided an assembly having a processor which is configured to carry out said method.

System and method for matching of image features with indistinguishable landmarks

Systems and methods are provided for determining whether an image or location contains a barcode. The systems and methods include comparing visual data extracted from an image to target visual data. The systems and methods also include comparing different portions of captured barcode data to corresponding portions of target barcode data. The systems and methods also include utilizing barcode formatting data when comparing or computing a similarity measure. The systems and methods also include causing a second image to be captured when no match is found in a first image. The systems and methods also include identifying a target barcode from a barcode database based on spatial information about where an image was captured. The systems and methods also include validating a barcode based on different regions of the barcode from two different images of the barcode. The systems and methods also include using two barcodes captured in an image.

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Zurich, Switzerland

Fabio Rossetto