SPARSE SIMULTANEOUS LOCALIZATION AND MATCHING WITH UNIFIED TRACKING
First Claim
1. A system for tracking a pose of one or more objects represented in a scene, the system comprising:
- a sensor that captures a plurality of scans of one or more objects in a scene, each scan comprising a color and depth frame;
a database that stores one or more key frames of the one or more objects in the scene, each key frame comprising a plurality of map points associated with the one or more objects;
a computing device that;
a) receives a first one of the plurality of scans from the sensor;
b) determines two-dimensional (2D) feature points of the one or more objects using the color and depth frame of the received scan;
c) retrieves a key frame from the database;
d) matches one or more of the 2D feature points with one or more of the map points in the key frame;
e) generate a current pose of the one or more objects in the color and depth frame using the matched 2D feature points;
f) insert the color and depth frame into the database as a new key frame, including the matched 2D feature points as map points for the new key frame; and
g) repeat steps a)-f) on each of the remaining scans, using the inserted new key frame for matching in step d);
wherein the computing device tracks the pose of the one or more objects in the scene across the plurality of scans.
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Accused Products
Abstract
Described herein are methods and systems for tracking a pose of one or more objects represented in a scene. A sensor captures a plurality of scans of objects in a scene, each scan comprising a color and depth frame. A computing device receives a first one of the scans, determines two-dimensional feature points of the objects using the color and depth frame, and retrieves a key frame from a database that stores key frames of the objects in the scene, each key frame comprising map points. The computing device matches the 2D feature points with the map points, and generates a current pose of the objects in the color and depth frame using the matched 2D feature points. The computing device inserts the color and depth frame into the database as a new key frame, and tracks the pose of the objects in the scene across the scans.
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Citations
26 Claims
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1. A system for tracking a pose of one or more objects represented in a scene, the system comprising:
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a sensor that captures a plurality of scans of one or more objects in a scene, each scan comprising a color and depth frame; a database that stores one or more key frames of the one or more objects in the scene, each key frame comprising a plurality of map points associated with the one or more objects; a computing device that; a) receives a first one of the plurality of scans from the sensor; b) determines two-dimensional (2D) feature points of the one or more objects using the color and depth frame of the received scan; c) retrieves a key frame from the database; d) matches one or more of the 2D feature points with one or more of the map points in the key frame; e) generate a current pose of the one or more objects in the color and depth frame using the matched 2D feature points; f) insert the color and depth frame into the database as a new key frame, including the matched 2D feature points as map points for the new key frame; and g) repeat steps a)-f) on each of the remaining scans, using the inserted new key frame for matching in step d); wherein the computing device tracks the pose of the one or more objects in the scene across the plurality of scans. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A computerized method of tracking a pose of one or more objects represented in a scene, the method comprising:
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a) capturing, by a sensor, a plurality of scans of one or more objects in a scene, each scan comprising a color and depth frame; b) receiving, by a computing device, a first one of the plurality of scans from the sensor; c) determining, by the computing device, two-dimensional (2D) feature points of the one or more objects using the color and depth frame of the received scan; d) retrieving, by the computing device, a key frame from a database that stores one or more key frames of the one or more objects in the scene, each key frame comprising a plurality of map points associated with the one or more objects; e) matching, by the computing device, one or more of the 2D feature points with one or more of the map points in the key frame; f) generating, by the computing device, a current pose of the one or more objects in the color and depth frame using the matched 2D feature points; g) inserting, by the computing device, the color and depth frame into the database as a new key frame, including the matched 2D feature points as map points for the new key frame; and h) repeating, by the computing device, steps b)-g) on each of the remaining scans, using the inserted new key frame for matching in step e); wherein the server computing device tracks the pose of the one or more objects in the scene across the plurality of scans. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification