Abstract: A method comprising performing image re-projection on each of a plurality of first images of a scene, thereby to generate a plurality of re-projected second images of the scene, wherein each first image of the scene is captured by a respective camera of a first multi-directional image capture apparatus and each second image of the scene is associated with a respective virtual camera; processing the plurality of second images based on a previously generated virtual three dimensional model of the scene, thereby to generate respective positions of the virtual cameras associated with the second images; and determining a position of the first multi-directional image capture apparatus based on one or more of the generated positions of the virtual cameras.

Abstract: A method comprising: obtaining a plurality of three-dimensional (3D) point clouds about a plurality of objects of interest, each of said 3D point clouds being labelled to a category of objects of interest; rendering facades for the objects of interests categorized as buildings using an ambient occlusion method, where illumination of the point cloud is calculated based on light coming from a theoretical hemisphere or sphere around the object of interest; and rendering shapes of the objects of interests categorized as non-buildings by fitting predefined templates of street view objects to the point clouds labelled as non-buildings.

Abstract: The invention relates to a method and a system for image-based retrieval. The method comprises receiving a query image; processing the query image to obtain visual features; determining a feature from the obtained visual features; determining a viewing direction for the query image from a pre-determined set of viewing directions; generating a direction-based hash based on the determined feature in the query image and the viewing direction; identifying sub-volumes of a point cloud database that match the direction-based hash; and matching the identified sub-volumes against all the query image features to find a match.

Abstract: A method comprising: obtaining a three-dimensional (3D) point cloud about an object; obtaining binary feature descriptors for feature points in a 2D image about the object; assigning a plurality of index values for each feature point as multiple bits of the corresponding binary feature descriptor; storing the binary feature descriptor in a table entry of a plurality of hash key tables of a database image; obtaining query binary feature descriptors for feature points in a query image; matching the query binary feature descriptors to the binary feature descriptors of the database image; reselecting one bit of the hash key of the matched database image; and re-indexing the feature points in the table entries of the hash key table of the database image.

Abstract: A method comprising: obtaining a three-dimensional (3D) point cloud about at least one object of interest; detecting ground and/or building objects from 3D point cloud data using an unsupervised segmentation method; removing the ground and/or building objects from the 3D point cloud data; and detecting one or more vertical objects from the remaining 3D point cloud data using a supervised segmentation method.

Abstract: An augmented reality method for displaying information comprises: capturing a sequence of image frames by a camera of a portable device, obtaining movement data by using an inertial sensor of the portable device, determining a sampling frame rate according to the movement data, selecting a tracking image from the captured image frames according to the sampling frame rate, determining a position of the portable device by comparing the tracking image with a point cloud, and displaying information on a display of the device based on the determined position.

Abstract: The invention relates to a method, apparatus and system for producing haptic output. Data of a plurality of objects of a model are received. The data of the plurality of objects comprise information of dimensions of the objects and properties of the objects. Haptic instructions for a haptic output device are received for producing haptic output of the properties, and in accordance with the instructions, haptic output for the objects using the haptic instructions is produced. One or more mappings between properties of virtual objects and target haptic outputs may be formed into a haptic data structure, the haptic data structure comprising a plurality of haptic instructions indicative of mappings between properties and haptic outputs, the haptic data structure being configured for use in haptic output related to objects when a user is determined to interact with said objects.

Abstract: An approach is provided for processing and/or facilitating a processing of one or more images to determine camera location information, camera pose information, or a combination thereof associated with at least one camera capturing the one or more images, wherein the camera location information, the camera pose information, or a combination thereof is represented according to a global coordinate system. The approach involves causing, at least in part, an association of the camera location information, the camera pose information, or a combination thereof with the one or more images as meta-data information.

Abstract: The embodiments relate to a method and to technical equipment for implementing the method. The method includes receiving an image with location information from a client; requesting processed region data from a media server based on the location information, said processed region data including one or more images with the corresponding location information; applying a first process for determining a pose of a device for the received image by means of the processed region data; if the first process fails to result the pose of the device, applying a second process for determining a pose of a device for the received image by means of the processed region data; saving the image with the determined pose of the device to the media server; providing the image and the pose of the device to a client for client rendering.

Abstract: A method comprising: obtaining a plurality of three-dimensional (3D) point clouds about a plurality of objects of interest, each of said 3D point clouds being labelled to a category of objects of interest; rendering facades for the objects of interests categorized as buildings using an ambient occlusion method, where illumination of the point cloud is calculated based on light coming from a theoretical hemisphere or sphere around the object of interest; and rendering shapes of the objects of interests categorized as non-buildings by fitting predefined templates of street view objects to the point clouds labelled as non-buildings.

Abstract: Abstract A method comprising: providing a first three-dimensional (3D) point cloud obtained according to a first sensing technique, a second 3D point cloud obtained according to a second sensing technique and a first radius of a sphere covering a real object underlying the second first 3D point cloud and a second radius of a sphere covering a real object underlying the second 3D point cloud; defining scales of the first 3D point cloud and the second 3D point cloud based on said first radius and second radius; searching statistically substantially similar candidate regions between the first 3D point cloud and the second 3D point cloud using an ensemble shape function (ESF); aligning the statistically substantially similar candidate regions between the first 3D point cloud and the second 3D point cloud at least in vertical direction; and ranking the aligned candidate regions between the 3D point clouds based on their structural similarity.

Abstract: Methods and apparatus, including computer program products, are provided for mapping. In one aspect there is provided a method which may include sampling a position and a viewpoint of a three-dimensional map view presented at a browser while traversing the three-dimensional map; sending to a database a query including the sampled position and the sampled viewpoint; and receiving, in response to the sent query, a recommended browsing path including a recommended position and a recommended viewpoint for traversing the three-dimensional map presented at the browser. The recommended browsing path represents an aggregation including crowd-sourced information for position and viewpoint. Related apparatus, systems, methods, and articles are also described.

Abstract: An approach is provided for processing and/or facilitating a processing of one or more images to determine camera location information, camera pose information, or a combination thereof associated with at least one camera capturing the one or more images, wherein the camera location information, the camera pose information, or a combination thereof is represented according to a global coordinate system. The approach involves causing, at least in part, an association of the camera location information, the camera pose information, or a combination thereof with the one or more images as meta-data information.

Abstract: An apparatus comprising a processor and memory including computer program code, the memory and computer program code configured to, with the processor, enable the apparatus at least to: use received current-field-of-view indication data together with future-event-direction data, in respect of recorded panoramic video output provided by panoramic video content data, to provide a sensory cue for a viewer of the recorded panoramic video output to indicate the direction of a future event in the recorded panoramic video output which is outside a current field of view, wherein the recorded panoramic video output is configured to provide video content to the viewer which extends outside the field of view of the viewer in at least in one direction, and the future-event-direction data is supplemental to the panoramic video content data which provides the video content itself.

Abstract: Methods and apparatus, including computer program products, are provided for mapping. In one aspect there is provided a method which may include sampling a position and a viewpoint of a three-dimensional map view presented at a browser while traversing the three-dimensional map; sending to a database a query including the sampled position and the sampled viewpoint; and receiving, in response to the sent query, a recommended browsing path including a recommended position and a recommended viewpoint for traversing the three-dimensional map presented at the browser. The recommended browsing path represents an aggregation including crowd-sourced information for position and viewpoint. Related apparatus, systems, methods, and articles are also described.

Abstract: The invention relates to a method and a system for image-based retrieval. The method comprises receiving a query image; processing the query image to obtain visual features; determining a feature from the obtained visual features; determining a viewing direction for the query image from a pre-determined set of viewing directions; generating a direction-based hash based on the determined feature in the query image and the viewing direction; identifying sub-volumes of a point cloud database that match the direction-based hash; and matching the identified sub-volumes against all the query image features to find a match.

Abstract: A method, comprising: providing a first border array associated with a first block, the first border array comprising several elements, wherein the value of each element corresponds to the sum of signal values of pixels enclosed within an integration region within said first block, providing a second border array associated with a second block, the second border array comprising several elements, wherein the value of each element corresponds to the sum of signal values of pixels enclosed within an integration region within said second block, determining a first representative element from the first border array according to a calculation point, determining a second representative element from the second border array according to said calculation point, and calculating a sum of signal values of pixels located within a summation region by using the first representative element and the second representative element, said summation region having a corner at said calculation point.

Abstract: A method comprising: obtaining a three-dimensional (3D) point cloud about at least one object of interest; detecting ground and/or building objects from 3D point cloud data using an unsupervised segmentation method; removing the ground and/or building objects from the 3D point cloud data; and detecting one or more vertical objects from the remaining 3D point cloud data using a supervised segmentation method.

Abstract: Embodiments relate to a method and a technical equipment for estimating a camera pose. The method comprises obtaining query binary feature descriptors for feature points in an image; placing a selected part of the obtained query binary feature descriptors into a query binary tree; and matching the query binary feature descriptors in the query binary tree to database binary feature descriptors of a database image to estimate a pose of a camera.

Abstract: A PWM circuit is disclosed in the application, which includes: a PWM counter, a reference value setting register, a frequency multiplier and a comparator, where the frequency multiplier is adapted to increase the frequency of a clock signal input and to output the clock signal with the increased frequency to the PWM counter. An LED drive circuit is further disclosed in the application. The frequency of a PWM input clock signal is increased to N times of the original frequency of the PWM input clock signal by the frequency multiplier, so that the counting cycle of the PWM counter is shortened to 1/N of the original counting cycle of the PWM counter. Therefore, in the dynamic LED display screen, the refresh frequency can be increased to N times of the original refresh frequency while the original resolution is maintained.