Method and device for generating binary descriptors in video frames
First Claim
1. A method, comprising:
- generating a binary descriptor associated with a given point in a current frame of a succession of video frames obtained by an apparatus configured to move in a rotation between a previous frame and the current frame, the generating including determining a pattern of point pairs of points around said given point in the current frame, performing intensity comparison processing between the points of each pair, and processing said pattern of point pairs of said current frame with tridimensional rotation information representative of said apparatus rotation between the previous frame and the current frame, wherein processing said pattern of points of said current frame comprises, for each point of each point pair of said pattern;
determining bidimensional coordinates of said point from bidimensional coordinates of a homologue point in the previous frame and from an in-plane rotation matrix corresponding to an in-plane rotation, in a plane, of an in-plane angle around said given point;
converting said determined bidimensional coordinates of said point into tridimensional coordinates;
determining a second rotation matrix representative of said tridimensional rotation information;
applying said second rotation matrix to said tridimensional coordinates of said point to obtain new tridimensional coordinates; and
projecting said new tridimensional coordinates back onto said plane of said in-plane rotation to obtain a projected point having projected coordinates; and
processing the succession of video frames based on the binary descriptor.
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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.
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Citations
20 Claims
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1. A method, comprising:
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generating a binary descriptor associated with a given point in a current frame of a succession of video frames obtained by an apparatus configured to move in a rotation between a previous frame and the current frame, the generating including determining a pattern of point pairs of points around said given point in the current frame, performing intensity comparison processing between the points of each pair, and processing said pattern of point pairs of said current frame with tridimensional rotation information representative of said apparatus rotation between the previous frame and the current frame, wherein processing said pattern of points of said current frame comprises, for each point of each point pair of said pattern; determining bidimensional coordinates of said point from bidimensional coordinates of a homologue point in the previous frame and from an in-plane rotation matrix corresponding to an in-plane rotation, in a plane, of an in-plane angle around said given point; converting said determined bidimensional coordinates of said point into tridimensional coordinates; determining a second rotation matrix representative of said tridimensional rotation information; applying said second rotation matrix to said tridimensional coordinates of said point to obtain new tridimensional coordinates; and projecting said new tridimensional coordinates back onto said plane of said in-plane rotation to obtain a projected point having projected coordinates; and processing the succession of video frames based on the binary descriptor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A device, comprising:
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generating means for generating a binary descriptor associated with a given point in a current frame of a succession of video frames obtained by an apparatus configured to move in a rotation between a previous frame and the current frame, said generating means including first means for determining a pattern of point pairs of points around said given point in the current frame, and comparison means for performing intensity comparison processing between the points of each point pair, and processing means for processing said pattern of point pairs of said current frame with tridimensional rotation information representative of said apparatus rotation between the previous frame and the current frame, wherein said processing means for processing said pattern of pair points comprises a processing module configured, for each point of each point pair of said pattern, to; determine bidimensional coordinates of said point from bidimensional coordinates of a homologue point in the previous frame and from an in-plane rotation matrix corresponding to an in-plane rotation, in a plane, of an in-plane angle around said given point; convert said determined bidimensional coordinates of said point into tridimensional coordinates; determine a second rotation matrix representative of said tridimensional rotation information; apply said second rotation matrix to said tridimensional coordinates of said point to obtain new tridimensional coordinates; and project said new tridimensional coordinates back onto said plane of said in-plane rotation to obtain a projected point having projected coordinates; and
,means for processing the succession of video frames based on generated binary descriptors. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. A tablet platform, comprising:
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an apparatus configured to capture a succession of video frames including a current frame and a previous frame and configured to move in a rotation between the previous frame and the current frame; and a device including; generating means for generating a binary descriptor associated with a given point in the current frame, said generating means including first means for determining a pattern of point pairs of points around said given point in the current frame, and comparison means for performing intensity comparison processing between the points of each point pair, and processing means for processing said pattern of point pairs of said current frame with tridimensional rotation information representative of said apparatus rotation between the previous frame and the current frame, wherein said processing means for processing said pattern of pair points comprises a processing module configured, for each point of each point pair of said pattern, to; determine bidimensional coordinates of said point from bidimensional coordinates of a homologue point in the previous frame and from an in-plane rotation matrix corresponding to an in-plane rotation, in a plane, of an in-plane angle around said given point; convert said determined bidimensional coordinates of said point into tridimensional coordinates; determine a second rotation matrix representative of said tridimensional rotation information; apply said second rotation matrix to said tridimensional coordinates of said point to obtain new tridimensional coordinates; and project said new tridimensional coordinates back onto said plane of said in-plane rotation to obtain a projected point having projected coordinates; and means for processing the succession of video frames based on generated binary descriptors. - View Dependent Claims (17, 18, 19, 20)
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Specification