Importance

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Abstract

A camera tracking method includes obtaining an image set of a current frame; separately extracting feature points of each image in the image set of the current frame; obtaining a matching feature point set of the image set according to a rule that scene depths of adjacent regions on an image are close to each other; separately estimating, a three-dimensional location of a scene point corresponding to each pair of matching feature points in a local coordinate system of the current frame and a three-dimensional location of the scene point in a local coordinate system of a next frame; estimating a motion parameter of the binocular camera on the next frame using invariance of center-of-mass coordinates to rigid transformation according to the three-dimensional location of the scene point corresponding to the matching feature points; and optimizing the motion parameter of the binocular camera on the next frame.

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First Claim