METHOD OF PROVIDING IMAGE FEATURE DESCRIPTORS
First Claim
1. A method of providing a set of feature descriptors configured to be used in matching at least one feature of an object in an image of a camera, comprising the steps of:
- a) providing at least two images of a first object or of multiple instances of a first object, wherein the multiple instances provide different appearances or different versions of an object;
b) extracting in at least two of the images at least one feature from the respective image;
c) providing at least one descriptor for an extracted feature, and storing the descriptors for a plurality of extracted features in a first set of descriptors;
d) matching a plurality of the descriptors of the first set of descriptors against a plurality of the descriptors of the first set of descriptors;
e) computing a score parameter for a plurality of the descriptors based on the result of the matching process;
f) selecting among the descriptors at least one descriptor based on its score parameter in comparison with score parameters of other descriptors;
g) adding the selected at least one descriptor to a second set of descriptors;
h) updating the score parameter of a plurality of the descriptors in the first set of descriptors according to any preceding selection process and to the result of the matching process; and
i) performing steps f) and g) at least a second time;
wherein the second set of descriptors is configured to be used in matching at least one feature of the first object or of a second object in an image of a camera.
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Accused Products
Abstract
A method of providing a set of feature descriptors configured to be used in matching an object in an image of a camera is provided. The method includes: a) providing at least two images of a first object; b) extracting in at least two of the images at least one feature from the respective image, c) providing at least one descriptor for an extracted feature, and storing the descriptors; d) matching descriptors in the first set of descriptors; e) computing a score parameter based on the result of the matching process; f) selecting at least one descriptor based on its score parameter; g) adding the selected descriptor(s) to a second set of descriptors; and h) updating the score parameter of descriptors in the first set based on a selection process and to the result of the matching process.
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Citations
31 Claims
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1. A method of providing a set of feature descriptors configured to be used in matching at least one feature of an object in an image of a camera, comprising the steps of:
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a) providing at least two images of a first object or of multiple instances of a first object, wherein the multiple instances provide different appearances or different versions of an object; b) extracting in at least two of the images at least one feature from the respective image; c) providing at least one descriptor for an extracted feature, and storing the descriptors for a plurality of extracted features in a first set of descriptors; d) matching a plurality of the descriptors of the first set of descriptors against a plurality of the descriptors of the first set of descriptors; e) computing a score parameter for a plurality of the descriptors based on the result of the matching process; f) selecting among the descriptors at least one descriptor based on its score parameter in comparison with score parameters of other descriptors; g) adding the selected at least one descriptor to a second set of descriptors; h) updating the score parameter of a plurality of the descriptors in the first set of descriptors according to any preceding selection process and to the result of the matching process; and i) performing steps f) and g) at least a second time; wherein the second set of descriptors is configured to be used in matching at least one feature of the first object or of a second object in an image of a camera. - View Dependent Claims (2, 3, 5, 6, 7, 18, 19, 22, 28, 29, 30)
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4. (canceled)
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8. (canceled)
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9. A method of providing at least two sets of feature descriptors configured to be used in matching at least one feature of an object in an image of a camera, comprising the steps of:
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a) providing at least two images of a first object or of multiple instances of a first object, wherein the multiple instances provide different appearances or different versions of an object, wherein each of the images is generated by a respective camera having a known orientation with respect to gravity when generating the respective image, b) extracting in at least two of the images at least one feature from the respective image; c) providing; c1) at least one descriptor for an extracted feature, and storing the descriptors for a plurality of extracted features in multiple sets of descriptors with at least a first set of descriptors and a second set of descriptors, wherein the first set of descriptors contains descriptors of features which were extracted from images captured by the respective cameras having the orientations corresponding to a first orientation zone with respect to gravity, and the second set of descriptors contains descriptors of features which were extracted from images captured by the respective cameras having the orientations corresponding to a second orientation zone with respect to gravity;
or;c2) at least one descriptor for an extracted feature, storing the descriptors for a plurality of extracted features in multiple sets of descriptors with at least a first set of descriptors and a second set of descriptors, and calculating for each descriptor an orientation of a ray pointing from the respective camera center towards the respective extracted feature that is described by the descriptor with respect to gravity, wherein the first set of descriptors contains descriptors of features having the orientations corresponding to a first orientation zone with respect to gravity, and the second set of descriptors contains descriptors of features having the orientations corresponding to a second orientation zone with respect to gravity; d) matching a plurality of the descriptors of the first set of descriptors against a plurality of the descriptors of the first set of descriptors, and matching a plurality of the descriptors of the second set of descriptors against a plurality of the descriptors of the second set of descriptors; e) computing a score parameter for a plurality of the descriptors based on the result of the matching process; f) selecting within the first set of descriptors at least one descriptor based on its score parameter in comparison with score parameters of other descriptors, and selecting within the second set of descriptors at least another descriptor based on its score parameter in comparison with score parameters of other descriptors; g) adding the at least one selected descriptor from the first set to a third set of descriptors and adding the at least one selected descriptor from the second set to a fourth set of descriptors; h) updating the score parameter of a plurality of descriptors in the first and/or second set of descriptors according to any preceding selection process and to the result of the matching process, i) performing steps f) and g) at least a second time; wherein the third and/or fourth set of descriptors are configured to be used in matching at least one feature of the first object or of a second object in an image of a camera. - View Dependent Claims (10, 11, 13, 15, 23, 24, 26, 27)
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12. (canceled)
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14. (canceled)
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16-17. -17. (canceled)
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20-21. -21. (canceled)
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25. (canceled)
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31. A non-transitory computer readable medium comprising software code sections adapted to perform a method of providing a set of feature descriptors configured to be used in matching at least one feature of an object in an image of a camera, which method comprises:
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a) providing at least two images of a first object or of multiple instances of a first object, wherein the multiple instances provide different appearances or different versions of an object; b) extracting in at least two of the images at least one feature from the respective image; c) providing at least one descriptor for an extracted feature, and storing the descriptors for a plurality of extracted features in a first set of descriptors; d) matching a plurality of the descriptors of the first set of descriptors against a plurality of the descriptors of the first set of descriptors; e) computing a score parameter for a plurality of the descriptors based on the result of the matching process; f) selecting among the descriptors at least one descriptor based on its score parameter in comparison with score parameters of other descriptors; g) adding the selected at least one descriptor to a second set of descriptors; h) updating the score parameter of a plurality of the descriptors in the first set of descriptors according to any preceding selection process and to the result of the matching process; and i) performing steps f) and g) at least a second time; wherein the second set of descriptors is configured to be used in matching at least one feature of the first object or of a second object in an image of a camera.
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Specification