Abstract: A method estimates an ego-motion of an apparatus between a first image and a second image of a succession of images captured by the apparatus, in a SLAM type algorithm containing a localization part including the ego-motion estimating and a mapping part. The ego-motion comprises a 3D rotation of the apparatus and a position variation of the apparatus in the 3D space, and the ego-motion estimating comprises performing a first part and performing a second part after having performed the first part, the first part including estimating the 3D rotation of the apparatus and the second part including, the 3D rotation having been estimated, estimating the position variation of the apparatus in the 3D space.

Abstract: A method generates a binary descriptor associated with a given point in a current frame of a succession of video frames obtained by an apparatus such as an image sensor. The method includes determining a pattern of points pairs around said given point in the current frame, and performing intensity comparison processing between the two points of each pair. The apparatus is likely to move in a rotation between the previous frame and the current frame. The method includes processing the pattern of points of the current frame with tridimensional rotation information representative of the apparatus rotation between the previous frame and the current frame and obtained from inertial measurements provided by at least one inertial sensor.

Abstract: A method generates a binary descriptor associated with a given point in a current frame of a succession of video frames obtained by an apparatus such as an image sensor. The method includes determining a pattern of points pairs around said given point in the current frame, and performing intensity comparison processing between the two points of each pair. The apparatus is likely to move in a rotation between the previous frame and the current frame. The method includes processing the pattern of points of the current frame with tridimensional rotation information representative of the apparatus rotation between the previous frame and the current frame and obtained from inertial measurements provided by at least one inertial sensor.

Abstract: A method estimates an ego-motion of an apparatus between a first image and a second image of a succession of images captured by the apparatus, in a SLAM type algorithm containing a localization part including the ego-motion estimating and a mapping part. The ego-motion comprises a 3D rotation of the apparatus and a position variation of the apparatus in the 3D space, and the ego-motion estimating comprises performing a first part and performing a second part after having performed the first part, the first part including estimating the 3D rotation of the apparatus and the second part including, the 3D rotation having been estimated, estimating the position variation of the apparatus in the 3D space.