Single constraint at a time (SCAAT) tracking of a virtual reality (VR) display

• US 20040001647A1
• Filed: 06/28/2002
• Published: 01/01/2004
• Est. Priority Date: 06/28/2002
• Status: Active Grant

• Current Assignee: Intel Corporation
• Original Assignee: Intel Corporation
• Inventors: Lake, Adam T., Marshall, Carl S.
• Granted Patent: US 7,657,079 B2
• Time in Patent Office: Days
• US Class Current: 382/291
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

A system to capture an image and determine a position of an object utilizes a camera. A first processing module recognizes a set of predetermined landmarks, including a first landmark and remainder landmarks, in the image. A second processing module determines an actual location of the first landmark in the image, and applies at least one filtering scheme to estimate positions of the remainder landmarks in the image. A third processing module determines a pose of the object based on the actual location of the first landmark and the estimated positions of the remainder landmarks.

Claims

1. A system to capture an image and determine a position of an object, comprising:

a camera to capture an image;

a first processing module to recognize a set of predetermined landmarks, including a first landmark and remainder landmarks, in the image;

a second processing module to determine an actual location of the first landmark in the image, and apply at least one filtering scheme to estimate positions of the remainder landmarks in the image; and

a third processing module to determine a pose of the object based on the actual location of the first landmark and the estimated positions of the remainder landmarks.

2. The system of claim 1, wherein the first, second, and third processing modules are all housed within an image processing device.

3. The system of claim 1, wherein the at least one filtering scheme includes application of a Kalman filter.

4. The system of claim 1, wherein the object is a user'"'"'s face.

5. The system of claim 1, wherein the object is the camera.

6. The system of claim 5, wherein the camera is housed within a Personal Digital Assistant (PDA).

7. The system of claim 1, wherein the set of predetermined landmarks includes colored landmarks having a predetermined color.

8. The system of claim 1, wherein the set of predetermined landmarks includes shaped landmarks having a predetermined shape.

9. The system of claim 1, further including a display device to display the image.

10. An apparatus to determine a position of an object, comprising:

a reception device to receive an image;

a first processing module to recognize a set of predetermined landmarks, including a first landmark and remainder landmarks, in the image;

a second processing module to determine an actual location of the first landmark in the image, and apply at least one filtering scheme to estimate positions of the remainder landmarks in the image; and

a third processing module to determine a pose of the object based on the actual location of the first landmark and the estimated positions of the remainder landmarks.

11. The apparatus of claim 10, wherein the first, second, and third processing modules are all housed within an image processing device.

12. The apparatus of claim 10, wherein the at least one filtering scheme includes application of a Kalman filter.

13. The apparatus of claim 10, wherein the object is a user'"'"'s face.

14. The apparatus of claim 10, wherein the object is a Personal Digital Assistant (PDA).

15. The apparatus of claim 10, wherein the set of predetermined landmarks includes colored landmarks having a predetermined color.

16. The apparatus of claim 10, wherein the set of predetermined landmarks includes shaped landmarks having a predetermined shape.

17. The apparatus of claim 10, further including a display device to display the image.

18. A method to determine a position of an object, comprising:

capturing an image;

recognizing a set of predetermined landmarks, including a first landmark and remainder landmarks, in the image;

determining an actual location of the first landmark in the image;

applying at least one filtering scheme to estimate positions of the remainder landmarks in the image; and

determining a pose of the object based on the actual location of the first landmark and the estimated positions of the remainder landmarks.

19. The method according to claim 18, wherein the at least one filtering scheme includes application of a Kalman filter.

20. The method according to claim 18, wherein the object is a user'"'"'s face.

21. The method according to claim 18, wherein the object is a camera.

22. The method according to claim 18, wherein the set of predetermined landmarks includes colored landmarks having a predetermined color.

23. The method according to claim 18, wherein the set of predetermined landmarks includes shaped landmarks having a predetermined shape.

24. The method according to claim 18, further including displaying the image.

25. The method according to claim 18, further including:

capturing a subsequent image;

determining an actual location of a second landmark; and

estimating positions of the first landmark and the remainder landmarks other than the second landmark.

26. An article comprising:

a storage medium having stored thereon instructions that when executed by a machine result in the following;

capturing an image;

recognizing a set of predetermined landmarks, including a first landmark and remainder landmarks, in the image;

determining an actual location of the first landmark in the image;

applying at least one filtering scheme to estimate positions of the remainder landmarks in the image; and

determining a pose of the object based on the actual location of the first landmark and the estimated positions of the remainder landmarks.

27. The article according to claim 26, wherein the at least one filtering scheme includes application of a Kalman filter.

28. The article according to claim 26, wherein the object is a user'"'"'s face.

29. The article according to claim 26, wherein the object is a Personal Digital Assistant (PDA).

30. The article according to claim 26, wherein the set of predetermined landmarks includes colored landmarks having a predetermined color.

31. The article according to claim 26, wherein the set of predetermined landmarks includes shaped landmarks having a predetermined shape.

32. The article according to claim 26, wherein the instructions further result in displaying the image.

33. The article according to claim 26, wherein the instructions further result in:

capturing a subsequent image;

determining an actual location of a second landmark; and

estimating positions of the first landmark and the remainder landmarks other than the second landmark.