LINE TRACKING WITH AUTOMATIC MODEL INITIALIZATION BY GRAPH MATCHING AND CYCLE DETECTION
First Claim
1. A method comprising:
- capturing an image of an object to be tracked;
detecting a plurality of lines in the image of the object;
forming a group of lines from the plurality of lines; and
using the group of lines to track the object.
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Accused Products
Abstract
A vision based tracking system in a mobile platform tracks objects using groups of detected lines. The tracking system detects lines in a captured image of the object to be tracked. Groups of lines are formed from the detected lines. The groups of lines may be formed by computing intersection points of the detected lines and using intersection points to identified connected lines, where the groups of lines are formed using connected lines. A graph of the detected lines may be constructed and intersection points identified. Interesting subgraphs are generated using the connections and the group of lines is formed with the interesting subgraphs. Once the groups of lines are formed, the groups of lines are used to track the object, e.g., by comparing the groups of lines in a current image of the object to groups of lines in a previous image of the object.
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Citations
28 Claims
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1. A method comprising:
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capturing an image of an object to be tracked; detecting a plurality of lines in the image of the object; forming a group of lines from the plurality of lines; and using the group of lines to track the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An apparatus comprising:
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a camera; a processor connected to the camera, the processor configured to detect a plurality of lines in an image captured by the camera of an object to be tracked, form a group of lines from the plurality of lines, and use the group of lines to track the object. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. An apparatus comprising:
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means for capturing an image of an object to be tracked; means for detecting a plurality of lines in the image of the object; means for forming a group of lines from the plurality of lines; and means for using the group of lines to track the object. - View Dependent Claims (20, 21, 22, 23)
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24. A non-transitory computer-readable medium including program code stored thereon, comprising:
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program code to capture an image of an object to be tracked; program code to detect a plurality of lines in the image of the object; program code to form a group of lines from the plurality of lines; and program code to use the group of lines to track the object. - View Dependent Claims (25, 26, 27, 28)
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Specification