Systems and Methods for Feature-Based Tracking
First Claim
1. A method comprising:
- obtaining a camera pose relative to a tracked object in a first image;
determining a predicted camera pose relative to the tracked object for a second image subsequent to the first image based, in part, on a motion model of the tracked object; and
obtaining an updated Special Euclidean Group (3) (SE(3)) camera pose, based, in part on the predicted camera pose, by estimating a plane induced homography using an equation of a dominant plane of the tracked object, wherein the plane induced homography is used to align a first lower resolution version of the first image and a first lower resolution version of the second image by minimizing the sum of the squared intensity differences of the first lower resolution version of the first image and the first lower resolution version of the second image.
1 Assignment
0 Petitions
Accused Products
Abstract
Disclosed embodiments pertain to feature based tracking. In some embodiments, a camera pose may be obtained relative to a tracked object in a first image and a predicted camera pose relative to the tracked object may be determined for a second image subsequent to the first image based, in part, on a motion model of the tracked object. An updated SE(3) camera pose may then be obtained based, in part on the predicted camera pose, by estimating a plane induced homography using an equation of a dominant plane of the tracked object, wherein the plane induced homography is used to align a first lower resolution version of the first image and a first lower resolution version of the second image by minimizing the sum of their squared intensity differences. A feature tracker may be initialized with the updated SE(3) camera pose.
59 Citations
30 Claims
-
1. A method comprising:
-
obtaining a camera pose relative to a tracked object in a first image; determining a predicted camera pose relative to the tracked object for a second image subsequent to the first image based, in part, on a motion model of the tracked object; and obtaining an updated Special Euclidean Group (3) (SE(3)) camera pose, based, in part on the predicted camera pose, by estimating a plane induced homography using an equation of a dominant plane of the tracked object, wherein the plane induced homography is used to align a first lower resolution version of the first image and a first lower resolution version of the second image by minimizing the sum of the squared intensity differences of the first lower resolution version of the first image and the first lower resolution version of the second image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
-
10. A User Device (UD) comprising:
-
a camera, the camera to capture a first image and a second image subsequent to the first image, and a processor coupled to the camera, the processor configured to; obtain a camera pose relative to a tracked object in the first image, determine a predicted camera pose relative to the tracked object for the second image based, in part, on a motion model of the tracked object, and obtain an updated Special Euclidean Group (3) (SE(3)) camera pose, based, in part on the predicted camera pose, by estimating a plane induced homography using an equation of a dominant plane of the tracked object, wherein the plane induced homography is used to align a first lower resolution version of the first image and a first lower resolution version of the second image by minimizing the sum of the squared intensity differences of the first lower resolution version of the first image and the first lower resolution version of the second image. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
-
-
19. An apparatus comprising:
-
imaging means, the imaging means to capture a first image and a second image subsequent to the first image, means for obtaining a imaging means pose relative to a tracked object in the first image; means for determining a predicted imaging means pose relative to the tracked object for the second image based, in part, on a motion model of the tracked object; and means for obtaining an updated Special Euclidean Group (3) (SE(3)) imaging means pose, based, in part on the predicted imaging means pose, by estimating a plane induced homography using an equation of a dominant plane of the tracked object, wherein the plane induced homography is used to align a first lower resolution version of the first image and a first lower resolution version of the second image by minimizing the sum of the squared intensity differences of the first lower resolution version of the first image and the first lower resolution version of the second image. - View Dependent Claims (20, 21, 22, 23)
-
-
24. A non-transitory computer-readable medium comprising instructions, which, when executed by a processor, perform steps in a method, the steps comprising:
-
obtaining a camera pose relative to a tracked object in a first image; determining a predicted camera pose relative to the tracked object for a second image subsequent to the first image based, in part, on a motion model of the tracked object; and obtaining an updated Special Euclidean Group (3) (SE(3)) camera pose, based, in part on the predicted camera pose, by estimating a plane induced homography using an equation of a dominant plane of the tracked object, wherein the plane induced homography is used to align a first lower resolution version of the first image and a first lower resolution version of the second image by minimizing the sum of the squared intensity differences of the first lower resolution version of the first image and the first lower resolution version of the second image. - View Dependent Claims (25, 26, 27, 28, 29, 30)
-
Specification