3 Probabilistic filtering method based on key frame of moving image for Localization of camera and 3D mapping

摘要

A camera position estimation method and apparatus are provided. According to the camera position estimation method, image data photographed through a camera are input. The probability distribution of the position of the camera is estimated by using first feature points which are some of feature points extracted from the image data. The probability distribution of the camera position is updated using second feature points, which are the rest of the feature points. So, it is possible to solve the problem of accumulating errors when a 3D map is restored and the position of the camera is estimated by applying a camera-based position estimation technique to guarantee the independence of prediction and update steps.