FAST EDGE-BASED OBJECT RELOCALIZATION AND DETECTION USING CONTEXTUAL FILTERING
First Claim
1. A machine implemented method to perform detection or relocalization of an object in a current frame (CF) image from a reference frame image (RF), comprising:
- calculating CF and RF edge profile illumination intensity gradients of CF and RF image data within a predetermined radius from a location of each of a plurality of CF and RF edge features of a CF and a RF, and along a normal direction of each of the plurality of CF and RF edge features;
selecting CF and RF edge features having at least one extrema of the CF and RF profile gradients within the predetermined radius; and
identifying at least one CF and RF patch for each selected CF and RF edge feature based on at least one distance between the CF and RF edge feature and at least one location of a local extrema of the CF and RF profile gradients.
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Accused Products
Abstract
Embodiments include detection or relocalization of an object in a current image from a reference image, such as using a simple and relatively fast and invariant edge orientation based edge feature extraction, then a weak initial matching combined with a strong contextual filtering framework, and then a pose estimation framework based on edge segments. Embodiments include fast edge-based object detection using instant learning with a sufficiently large coverage area for object re-localization. Embodiments provide a good trade-off between computational efficiency of the extraction and matching processes.
16 Citations
28 Claims
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1. A machine implemented method to perform detection or relocalization of an object in a current frame (CF) image from a reference frame image (RF), comprising:
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calculating CF and RF edge profile illumination intensity gradients of CF and RF image data within a predetermined radius from a location of each of a plurality of CF and RF edge features of a CF and a RF, and along a normal direction of each of the plurality of CF and RF edge features; selecting CF and RF edge features having at least one extrema of the CF and RF profile gradients within the predetermined radius; and identifying at least one CF and RF patch for each selected CF and RF edge feature based on at least one distance between the CF and RF edge feature and at least one location of a local extrema of the CF and RF profile gradients. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A device comprising:
an object detection or relocalization computer module to perform detection or relocalization of an object in a current frame (CF) image from a reference frame image (RF), the module configured to; calculate CF and RF edge profile illumination intensity gradients of CF and RF image data within a predetermined radius from a location of each of a plurality of CF and RF edge features of a CF and a RF, and along a normal direction of each of the plurality of CF and RF edge features; select CF and RF edge features having at least one extrema of the CF and RF profile gradients within the predetermined radius; and identify at least one CF and RF patch for each selected CF and RF edge feature based on at least one distance between the CF and RF edge feature and at least one location of a local extrema of the CF and RF profile gradients. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A computer program product comprising a computer-readable medium comprising code to perform detection or relocalization of an object in a current frame (CF) image from a reference frame image (RF), the code for:
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calculating CF and RF edge profile illumination intensity gradients of CF and RF image data within a predetermined radius from a location of each of a plurality of CF and RF edge features of a CF and a RF, and along a normal direction of each of the plurality of CF and RF edge features; selecting CF and RF edge features having at least one extrema of the CF and RF profile gradients within the predetermined radius; and identifying at least one CF and RF patch for each selected CF and RF edge feature based on at least one distance between the CF and RF edge feature and at least one location of a local extrema of the CF and RF profile gradients. - View Dependent Claims (16, 17, 18, 19, 20, 21, 23, 24, 25, 26, 27, 28)
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22. A computing device to perform detection or relocalization of an object in a current frame (CF) image from a reference frame image (RF), comprising:
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a means for calculating CF and RF edge profile illumination intensity gradients of CF and RF image data within a predetermined radius from a location of each of a plurality of CF and RF edge features of a CF and a RF, and along a normal direction of each of the plurality of CF and RF edge features; a means for selecting CF and RF edge features having at least one extrema of the CF and RF profile gradients within the predetermined radius; and a means for identifying at least one CF and RF patch for each selected CF and RF edge feature based on at least one distance between the CF and RF edge feature and at least one location of a local extrema of the CF and RF profile gradients.
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Specification