Tracking objects between images
First Claim
1. A computing device comprising:
- a camera;
one or more processors;
a memory device including instructions that, when executed by the one or more processors, cause the computing device to;
receive first image data captured using the camera;
select a first tracking point within an area of the first image data;
compare a first patch of pixels surrounding the first tracking point within the area with a second patch of pixels within the area to determine a similarity score;
determine a distinctiveness of the first tracking point based at least in part the similarity score;
receive second image data captured using the camera; and
determine a second tracking point in the second image data corresponding to the first tracking point.
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Accused Products
Abstract
Systems and methods track one or more points between images. A point for tracking may be selected, at least in part, on a determination of how discriminable the point is relative to other points in a region containing the point. A point of an image being tracked may be located in another image by matching a patch containing the point with another patch of the other image. A search for a matching patch may be focused in a region that is determined based at least in part on an estimate of movement of the point between images. Points may be tracked across multiple images. If an ability to track one or more points is lost, information about the points being tracked may be used to relocate the points in another image.
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Citations
20 Claims
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1. A computing device comprising:
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a camera; one or more processors; a memory device including instructions that, when executed by the one or more processors, cause the computing device to; receive first image data captured using the camera; select a first tracking point within an area of the first image data; compare a first patch of pixels surrounding the first tracking point within the area with a second patch of pixels within the area to determine a similarity score; determine a distinctiveness of the first tracking point based at least in part the similarity score; receive second image data captured using the camera; and determine a second tracking point in the second image data corresponding to the first tracking point. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computer-implemented method, comprising:
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receiving image data; determining a plurality of candidate points based on the image data; determining respective distinctiveness for the plurality of candidate points by comparing a patch of pixels surrounding a candidate point with other patches of pixels within a window containing the candidate point; determining a spatial distribution of the plurality of candidate points; selecting a tracking point from the plurality of candidate points based at least in part on the respective distinctiveness scores and the spatial distribution; and identifying points corresponding to the tracking point in a plurality of frames of the image data. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A non-transitory computer readable storage medium storing instructions, the instructions when executed by a processor causing the processor to:
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receive image data; determine a plurality of candidate points based on the image data; determine respective distinctiveness scores for the plurality of candidate points by comparing a patch of pixels surrounding a candidate point with other patches of pixels within a window containing the candidate point; determine a spatial distribution of the plurality of candidate points; select a tracking point from the plurality of candidate points based at least in part on the respective distinctiveness scores and the spatial distribution; and identify points corresponding to the tracking point in a plurality of frames of the image data. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification