Method, computer program and device for hybrid tracking of real-time representations of objects in a sequence
First Claim
1. A method of hybrid tracking a representation of at least one object in a sequence of images using at least one key image, the method being implemented on a computer, and comprising the following steps:
- acquisition of a first and second images of said sequence of images including a representation of said at least one object;
identification of at least one first image portion of said first image, said at least one first image portion of said first image including at least one part of a representation of said at least one object;
retrieval of at least one second image portion from said at least one key image, said at least one second image portion of said key image including at least one part of a representation of said at least one object;
estimation of a relative pose of at least one first image portion of said second image, similar to said at least one first image portion of said first image, according to said at least one first image portion of said first image;
search (320, 760, 770) for at least one second image portion of said first or second image, similar to said at least one second image portion of said key image, and estimation (330, 725, 775) of a relative pose of said at least one object according to the relative poses of said first image portions and said second image portions.
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Accused Products
Abstract
The invention in particular relates to the hybrid tracking of representations of objects in a sequence of images using at least one key image. After acquiring a first and second images including a representation of the tracked object, a first image portion is identified in the first image, and a second image portion is retrieved from the key image. A relative pose of a first image portion of said second image, similar to the first image portion of the first image, is estimated. A second image portion of the first or second image, similar to the second image portion of the key image, is sought. The relative pose of the object is then estimated according to the relative poses of the first image portions and the second image portions.
65 Citations
13 Claims
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1. A method of hybrid tracking a representation of at least one object in a sequence of images using at least one key image, the method being implemented on a computer, and comprising the following steps:
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acquisition of a first and second images of said sequence of images including a representation of said at least one object; identification of at least one first image portion of said first image, said at least one first image portion of said first image including at least one part of a representation of said at least one object; retrieval of at least one second image portion from said at least one key image, said at least one second image portion of said key image including at least one part of a representation of said at least one object; estimation of a relative pose of at least one first image portion of said second image, similar to said at least one first image portion of said first image, according to said at least one first image portion of said first image; search (320, 760, 770) for at least one second image portion of said first or second image, similar to said at least one second image portion of said key image, and estimation (330, 725, 775) of a relative pose of said at least one object according to the relative poses of said first image portions and said second image portions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification