OBJECT TRACKING BASED ON DYNAMICALLY BUILT ENVIRONMENT MAP DATA
First Claim
1. A computer-implemented method of tracking a target object in an object recognition system, the method comprising:
- acquiring a plurality of images with a camera;
simultaneously tracking the target object and dynamically building environment map data from the plurality of images, wherein tracking the target object includes attempting to estimate a target pose of the target object with respect to the camera based on at least one of the plurality of images and based on target map data;
determining whether the tracking of the target object with respect to the camera is successful; and
, if not, theninferring the target pose with respect to the camera based on the environment map data.
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Accused Products
Abstract
A computer-implemented method of tracking a target object in an object recognition system includes acquiring a plurality of images with a camera. The method further includes simultaneously tracking the target object and dynamically building environment map data from the plurality of images. The tracking of the target object includes attempting to estimate a target pose of the target object with respect to the camera based on at least one of the plurality of images and based on target map data. Next, the method determines whether the tracking of the target object with respect to the camera is successful. If not, then the method includes inferring the target pose with respect to the camera based on the dynamically built environment map data. In one aspect the method includes fusing the inferred target pose with the actual target pose even if tracking is successful to improve robustness.
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Citations
30 Claims
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1. A computer-implemented method of tracking a target object in an object recognition system, the method comprising:
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acquiring a plurality of images with a camera; simultaneously tracking the target object and dynamically building environment map data from the plurality of images, wherein tracking the target object includes attempting to estimate a target pose of the target object with respect to the camera based on at least one of the plurality of images and based on target map data; determining whether the tracking of the target object with respect to the camera is successful; and
, if not, theninferring the target pose with respect to the camera based on the environment map data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A computer-readable medium including program code stored thereon for tracking a target object in an object recognition system, the program code comprising instructions to:
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acquire a plurality of images with a camera; simultaneously track the target object and dynamically build environment map data from the plurality of images, wherein the instructions to track the target object includes instructions to attempt to estimate a target pose of the target object with respect to the camera based on at least one of the plurality of images and based on target map data; determine if tracking of the target object with respect to the camera is successful; and
, if not, theninfer the target pose with respect to the camera based on the environment map data. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. An apparatus, comprising:
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memory adapted to store program code for tracking a target object in an object recognition system; a processing unit adapted to access and execute instructions included in the program code, wherein when the instructions are executed by the processing unit, the processing unit directs the apparatus to; acquire a plurality of images with a camera; simultaneously track the target object and dynamically build environment map data from the plurality of images, wherein the instructions to track the target object includes instructions to attempt to estimate a target pose of the target object with respect to the camera based on at least one of the plurality of images and based on target map data; determine if tracking of the target object with respect to the camera is successful; and
, if not, theninfer the target pose with respect to the camera based on the environment map data. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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25. An apparatus, comprising:
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means for acquiring a plurality of images with a camera; means for simultaneously tracking the target object and dynamically building environment map data from the plurality of images, wherein the means for tracking the target object includes means for attempting to estimate a target pose of the target object with respect to the camera based on at least one of the plurality of images and based on target map data; means for determining whether the tracking of the target object with respect to the camera is successful; and means for inferring the target pose with respect to the camera based on the environment map data if the tracking of the target object with respect to the camera is unsuccessful. - View Dependent Claims (26, 27, 28, 29, 30)
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Specification