Microsoft Corporation
Prior informed pose and scale estimation

Abstract:

A scale and pose estimation method for a camera system is disclosed. Camera data for a scene acquired by the camera system is received. A rotation prior parameter characterizing a gravity direction is received. A scale prior parameter characterizing scale of the camera system is received. A cost of a cost function is calculated for a similarity transformation that is configured to encode a scale and pose of the camera system. The cost of the cost function is influenced by the rotation prior parameter and the scale prior parameter. A solved similarity transformation is determined upon calculating a cost for the cost function that is less than a threshold cost. An estimated scale and pose of the camera system is output based on the solved similarity transformation.