Baidu Online Network Technology (beijing) Co., Ltd.

Beijing Baidu Netcom Science and Technology Co., Ltd.

Sili Chen

Yuan Lin

Yongjie Zhang

Zhaoliang Liu

Hongwu Zhang

Zhongqin Wu

Yuhua Dong

Yijie Yan

Binbin Zheng

The present disclosure discloses an edge-based three-dimensional tracking and registration method and apparatus for augmented reality, and a storage medium. The method includes: obtaining an initial pose of a three-dimensional object in an image; extracting edgelet features of a contour of the three-dimensional object based on the initial pose; dividing the edgelet features into groups, and performing searching on the image to find a matching point corresponding to respective edgelet feature in each group; and calculating a pose of the three-dimensional object based on matching points found in the groups.

Edge-based three-dimensional tracking and registration method and apparatus for augmented reality, and storage medium

The present application provides a method and an apparatus for three-dimensional object pose estimation, a device and a storage medium. The method includes: calculating a graph of a previous frame and a graph of a current frame for a target three-dimensional object; performing a matching calculation on the graph of the previous frame and the graph of the current frame using a graph matching algorithm to obtain a vertex correspondence relationship between the graph of the previous frame and the graph of the current frame; calculating a pose of the target three-dimensional object in the current frame according to the vertex correspondence relationship, a pose of the target three-dimensional object in the previous frame and a PnP algorithm. The matching accuracy of feature points is effectively improved, and thereby the accuracy of three-dimensional object pose estimation is improved.

Method and apparatus for three-dimensional object pose estimation, device and storage medium

The present disclosure provides a method, an apparatus, a device for evaluating image tracking effectiveness and a readable storage medium. The method includes: extracting feature points from a target image according to a predefined algorithm; determining first texture information for the target image according to the feature points; processing the target image according to a predefined processing policy to derive a contrast image, and determining second texture information for the target image according to the contrast image; and rating the target image according to the first texture information and the second texture information. In the solution provide by the present disclosure, the tracking effectiveness for the target image can be known without having to place the target image into any actual product, nor having to wait until the product has been finalized before the target image tracking effectiveness is determined. Moreover, efficiency can be enhanced when evaluating image tracking effectiveness.

Method, apparatus and device for evaluating image tracking effectiveness and readable storage medium

A method for determining a pose of a camera is provided, the method includes: S, acquiring an image of a marker; S, estimating a first pose of the camera according to the image of the marker by a characteristic point method; S, estimating a second pose of the camera according to the image of the marker by a direct method; and S, determining the pose of the camera based on the first pose and the second pose.

Method and device for determining pose of camera

An object tracking method, device are provided according to the disclosure. The object tracking method includes: acquiring an object image comprising an object; determining a current image with the object from images captured consecutively, according to the object image; calculating a first pose of the object in the current image using a first algorithm, and calculating a second pose of the object in the current image using a second algorithm, wherein the first algorithm has a faster calculating speed than the second algorithm; determining a pose of the object to be the first pose before a calculation of the second pose is completed; and in a case that the calculation of the second pose is completed, calculating a third pose of the object according to the first pose and the second pose; and determining the pose of the object to be the third pose.

Object tracking method, device, augmented reality system and storage medium

The present disclosure discloses a method and apparatus for constructing a three-dimensional map. A specific embodiment of the method includes: acquiring multiple frames of a monocular image containing a target object collected by a monocular camera, and constructing a three-dimensional map containing the target object and other objects in the monocular image based on the monocular image; determining an absolute scale of the target object, and determining a ratio of a relative scale corresponding to the target object to the absolute scale; and adjusting a scale of each object in the three-dimensional map to obtain a three-dimensional map meeting a preset condition based on the ratio. The method and apparatus provided by the present disclosure achieves the construction of a world coordinate system with absolute scales in a three-dimensional map constructed based on a monocular image.

Method and apparatus for constructing three-dimensional map

A method and apparatus for generating image information. A specific embodiment of the method includes: acquiring a rotation angle and a scaling of a target image relative to a reference image, and acquiring an intrinsic parameter of a video camera collecting the reference image; generating a projective transformation matrix based on the rotation angle, the scaling and the intrinsic parameter; generating a coordinate offset of the each neighborhood pixel of the feature point in the reference image; generating, based on a coordinate of the feature point in the reference image, the coordinate offset of the each neighborhood pixel of the feature point in the reference image and the projective transformation matrix, coordinates of the each neighborhood pixel of the feature point in the reference image; and generating a feature point descriptor of the feature point.

Growing community of inventors

Beijing, China

Sili Chen