The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 03, 2019
Filed:
Sep. 24, 2015
Intel Corporation, Santa Clara, CA (US);
Samer S. Barakat, Santa Clara, CA (US);
Mohamed Selim Ben Himane, Milpitas, CA (US);
INTEL CORPORATION, Santa Clara, CA (US);
Abstract
Techniques are disclosed for drift correction for camera tracking. In some cases, the techniques include iterative optimization of the camera poses at selected keyframes captured along the camera trajectory to reduce pose errors. Such iterative optimization may include performing an alignment process using the point cloud of a given keyframe and a point cloud made from one or more overlapping keyframes, such as via an iterative closest point (ICP)-based expectation maximization. The keyframes may then be fused to reconstruct a more accurate model of the scene, discarding the existing model. The new model can then be used for tracking and meshing. In some instances, keyframes may be selected such that the overlap with other keyframes includes enough shape features to allow for alignment with the keyframe depth point cloud. In some cases, the techniques can be performed in a particular order giving precedence to keyframes having smaller pose errors.