ACCELERATED GEOMETRIC SHAPE DETECTION AND ACCURATE POSE TRACKING
First Claim
Patent Images
1. A method comprising:
- capturing an image of a planar object with a camera, the planar object having a predefined geometric shape;
detecting edge pixels of the planar object in the image;
detecting a plurality of line segments from the edge pixels;
using the plurality of line segments to detect the planar object in the image based on the predefined geometric shape;
determining an initial pose of the camera using the planar object; and
tracking the pose of the camera with respect to the planar object in subsequently captured images using the initial pose and the edges of the planar object.
1 Assignment
0 Petitions
Accused Products
Abstract
A reference in an unknown environment is generated on the fly for positioning and tracking. The reference is produced in a top down process by capturing an image of a planar object with a predefined geometric shape, detecting edge pixels of the planar object, then detecting a plurality of line segments from the edge pixels. The plurality of line segments may then be used to detect the planar object in the image based on the predefined geometric shape. An initial pose of the camera with respect to the planar object is determined and tracked using the edges of the planar object.
60 Citations
48 Claims
-
1. A method comprising:
-
capturing an image of a planar object with a camera, the planar object having a predefined geometric shape; detecting edge pixels of the planar object in the image; detecting a plurality of line segments from the edge pixels; using the plurality of line segments to detect the planar object in the image based on the predefined geometric shape; determining an initial pose of the camera using the planar object; and tracking the pose of the camera with respect to the planar object in subsequently captured images using the initial pose and the edges of the planar object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
-
-
18. A mobile device comprising:
-
a camera for capturing an image of a planar object, the planar object having a predefined geometric shape; and a processor coupled to the camera for receiving the image of the planar object, the processor is adapted to detect edge pixels of the planar object in the image;
detect a plurality of line segments from the edge pixels;
use the plurality of line segments to detect the planar object in the image based on the predefined geometric shape;determine an initial pose of the camera using the planar object; and
track the pose of the camera with respect to the planar object in subsequently captured images using the initial pose and the edges of the planar object.- View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
-
-
35. A mobile device comprising:
-
means for capturing an image of a planar object with a camera, the planar object having a predefined geometric shape; means for detecting edge pixels of the planar object in the image; means for detecting a plurality of line segments from the edge pixels; means for using the plurality of line segments to detect the planar object in the image based on the predefined geometric shape; means for determining an initial pose of the camera using the planar object; and means for tracking the pose of the camera with respect to the planar object in subsequently captured images using the initial pose and the edges of the planar object. - View Dependent Claims (36, 37, 38, 39, 40, 41)
-
-
42. A non-transitory computer-readable medium including program code stored thereon, comprising:
-
program code to detecting edge pixels of the planar object in an image captured with a camera, the planar object having a predefined geometric shape; program code to detect a plurality of line segments from the edge pixels; program code to use the plurality of line segments to detect the planar object in the image based on the predefined geometric shape; program code to determine an initial pose of the camera using the planar object; and program code to track the pose of the camera with respect to the planar object in subsequently captured images using the initial pose and the edges of the planar object. - View Dependent Claims (43, 44, 45, 46, 47, 48)
-
Specification