Method and system for large scale determination of rgbd camera posture

摘要

A method for determining camera poses includes using a camera to capture multiple image frames, calculating relative poses between each set of image frame pairs, relative pose sets and uncategorized relatives. Providing a set of poses, and detecting and removing erroneously categorized relative poses and providing a remaining set of relative poses. The method also uses the remaining set of relative poses to determine a global pose, and at least some of the mis-categorized relative poses and at least one of the uncategorized relative pose sets. Calculating an extended relative pose for the portion and providing an extended relative pose set and an extended uncategorized relative pose set.