6-DoF Camera Position and Posture Estimation Based on Local Patches of Image Sequence

Abstract

We propose real-time camera position and posture estimation with six degrees of freedom (6-DoF) based on local patches of an image sequence. Our method alternately performs camera motion calculation and depth map reconstruction. Using the reconstructed depth map on only edge regions of images, our estimation method was 30% faster than that based on all pixels and achieved robust motion tracking compared with the feature-points-based method.