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DEVICE POSE ESTIMATION USING 3D LINE CLOUDS
DEVICE POSE ESTIMATION USING 3D LINE CLOUDS
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机译:使用3D线云的设备姿态估计
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摘要
Computing devices and methods for estimating a pose of a user computing device are provided. In one example a 3D map comprising a plurality of 3D points representing a physical environment is obtained. Each 3D point is transformed into a 3D line that passes through the point to generate a 3D line cloud. A query image of the environment captured by a user computing device is received, the query image comprising query features that correspond to the environment. Using the 3D line cloud and the query features, a pose of the user computing device with respect to the environment is estimated.
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