Method for tracking keypoints in a scene
First Claim
Patent Images
1. Method for tracking a position of at least one keypoint in an image of an object moving relative to an optical sensor, comprising the steps of:
- a) detecting light reflected from the object (12) and generating an image of the object (12) comprising image pixels, wherein a pixel value is assigned to each image pixel, wherein each pixel value is monotonically related to the intensity of the detected light for the respective image pixel,b) detecting a position of at least one keypoint (Kj) in said image, particularly assigning a descriptor vector to the at least one keypoint (Kj), generating an image patch (I), wherein the image patch (I) assigns to a pre-defined number of image pixels arranged around the at least one keypoint (Kj) the pixel value of the respective image pixel of the image patch (I), and computing at least one gradient patch (dI/dx) along a degree of freedom (x) of the image patch (I), wherein said at least one gradient patch (dI/dx) assigns to each image pixel of the image patch (I) a gradient of the pixel values of the image patch (I) at the respective image pixel along said degree of freedom,c) detecting light reflected by the object by means of the optical sensor (14) that comprises a plurality of sensor pixels, wherein each sensor pixel generates a photocurrent being proportional to the intensity of the light impinging on the respective sensor pixel, and generates a signal related to said photocurrent, and wherein each sensor pixel outputs a temporal contrast event (Ev) merely when the respective signal due to the light impinging on the respective sensor pixel increases by an amount being larger than a first threshold (Θ
ON) or decreases by an amount being larger than a second threshold (Θ
OFF) since the last temporal contrast event (Ev) from the respective sensor pixel, wherein each temporal contrast event (Ev(u,v,t)) carries the coordinates (u,v) of its associated sensor pixel, a time (t) at which the respective temporal contrast event (Ev) occurred, as well as a polarity value indicating whether the respective temporal contrast event (Ev) is an ON event at which said signal increased by an amount larger than said first threshold (Θ
ON), or an OFF event at which said signal decreased by an amount larger than said second threshold (Θ
OFF),d) updating the position of the at least one keypoint (Kj) using said temporal contrast events (Ev), ande) particularly repeating steps c) to d) until a new image is generated in which case steps a) to e) are conducted.
1 Assignment
0 Petitions
Accused Products
Abstract
The present invention relates to a method for tracking a position of at least one keypoint in an image of an object moving relative to an optical sensor, wherein light reflected from the object (12) is detected so as to generate an image of the object, and wherein a position of at least one keypoint (Kj) in said image is detected and updated using temporal contrast events (Ev) of the optical sensor. The invention also relates to a corresponding computer program and device.
6 Citations
14 Claims
-
1. Method for tracking a position of at least one keypoint in an image of an object moving relative to an optical sensor, comprising the steps of:
-
a) detecting light reflected from the object (12) and generating an image of the object (12) comprising image pixels, wherein a pixel value is assigned to each image pixel, wherein each pixel value is monotonically related to the intensity of the detected light for the respective image pixel, b) detecting a position of at least one keypoint (Kj) in said image, particularly assigning a descriptor vector to the at least one keypoint (Kj), generating an image patch (I), wherein the image patch (I) assigns to a pre-defined number of image pixels arranged around the at least one keypoint (Kj) the pixel value of the respective image pixel of the image patch (I), and computing at least one gradient patch (dI/dx) along a degree of freedom (x) of the image patch (I), wherein said at least one gradient patch (dI/dx) assigns to each image pixel of the image patch (I) a gradient of the pixel values of the image patch (I) at the respective image pixel along said degree of freedom, c) detecting light reflected by the object by means of the optical sensor (14) that comprises a plurality of sensor pixels, wherein each sensor pixel generates a photocurrent being proportional to the intensity of the light impinging on the respective sensor pixel, and generates a signal related to said photocurrent, and wherein each sensor pixel outputs a temporal contrast event (Ev) merely when the respective signal due to the light impinging on the respective sensor pixel increases by an amount being larger than a first threshold (Θ
ON) or decreases by an amount being larger than a second threshold (Θ
OFF) since the last temporal contrast event (Ev) from the respective sensor pixel, wherein each temporal contrast event (Ev(u,v,t)) carries the coordinates (u,v) of its associated sensor pixel, a time (t) at which the respective temporal contrast event (Ev) occurred, as well as a polarity value indicating whether the respective temporal contrast event (Ev) is an ON event at which said signal increased by an amount larger than said first threshold (Θ
ON), or an OFF event at which said signal decreased by an amount larger than said second threshold (Θ
OFF),d) updating the position of the at least one keypoint (Kj) using said temporal contrast events (Ev), and e) particularly repeating steps c) to d) until a new image is generated in which case steps a) to e) are conducted. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
-
12. A non-transitory computer readable medium configure to track a position of at least one keypoint in an image of an object moving relative to an optical sensor, wherein the computer program comprises program code for conducting the following steps when the computer program is executed on a computer:
-
a) detecting a position of at least one keypoint (Kj) in said image, particularly assigning a descriptor vector to the at least one keypoint (Kj), generating an image patch (I), wherein the image patch (I) assigns to a pre-defined number of image pixels arranged around the at least one keypoint (Kj) the pixel value of the respective image pixel of the image patch (I), and computing at least one gradient patch (dI/dx) along a degree of freedom (x) of the image patch (I), wherein said at least one gradient patch (dI/dx) assigns to each image pixel of the image patch (I) a gradient of the pixel values of the image patch (I) at the respective image pixel along said degree of freedom, and b) updating the position of the at least one keypoint (Kj) using temporal contrast events (Ev) output by an optical sensor (14) merely when a signal of the optical sensor (14) related to a photocurrent due to the light impinging on a sensor pixel of the optical sensor (14) increases by an amount being larger than a first threshold (Θ
ON) or decreases by an amount being larger than a second threshold (Θ
OFF) since the last temporal contrast event (Ev) from the respective sensor pixel, wherein each temporal contrast event (Ev(u,v,t)) carries the coordinates (u,v) of its associated sensor pixel, a time (t) at which the respective temporal contrast event (Ev) occurred, as well as a polarity value indicating whether the respective temporal contrast event (Ev) is an ON event at which said signal increased by an amount larger than said first threshold (Θ
ON), or an OFF event at which said signal decreased by an amount larger than said second threshold (Θ
OFF), andc) particularly repeating step b) until a new image is provided in which case steps a) to c) are performed.
-
-
13. Device for tracking a position of at least one keypoint in an image of an object moving relative to an optical sensor means, comprising
an optical sensor means (14, 13) that is designed to detect light reflected from an object (12) and to generate an image of the object (12) comprising image pixels, wherein the device is designed to detect a position of at least one keypoint (Kj) in said image, and wherein said optical sensor means (14, 13) is further designed to detect light reflected by the object (12) by means of a plurality of sensor pixels, wherein each sensor pixel is designed to generate a photocurrent being proportional to the intensity of the light impinging on the respective sensor pixel, and to generate a signal related to said photocurrent, and wherein each sensor pixel is designed to output a temporal contrast event (Ev) merely when the respective signal due to the light impinging on the respective sensor pixel increases by an amount being larger than a first threshold (Θ -
ON) or decreases by an amount being larger than a second threshold (Θ
OFF) since the last temporal contrast event (Ev) from the respective sensor pixel, wherein each temporal contrast event (Ev(u,v,t)) carries the coordinates (u,v) of its associated sensor pixel, a time (t) at which the respective temporal contrast event (Ev) occurred, as well as a polarity value indicating whether the respective temporal contrast event (Ev) is an ON event at which said signal increased by an amount larger than said first threshold (Θ
0N), or an OFF event at which said signal decreased by an amount larger than said second threshold (Θ
OFF), and whereinthe device is designed to update the position of the at least one keypoint (Kj) using said temporal contrast events, and wherein the device is designed to assign a descriptor vector or an identifier to the at least one keypoint (Kj), and wherein the device is designed to generate an image patch that assigns to a pre-defined number of image pixels arranged around the at least one keypoint the pixel value of the respective image pixel of the image patch, and wherein the device is designed to compute at least one gradient patch along a degree of freedom of the image patch, wherein said at least one gradient patch assigns to each image pixel of the image patch a gradient of the pixel values of the image patch at the respective image pixel along said degree of freedom. - View Dependent Claims (14)
-
ON) or decreases by an amount being larger than a second threshold (Θ
Specification