System and method for using texture landmarks for improved markerless tracking in augmented reality applications
First Claim
1. A computer implemented method of tracking a pose of a moving camera, the method performed by the computer comprising the steps of:
- receiving a first received digitized image from a camera, said image comprising a plurality of intensities corresponding to a domain of points on a 2-dimensional grid, and including one or more landmarks for tracking;
receiving a sequence of digitized images from said camera, each image comprising a plurality of intensities corresponding to a domain of points on a 2-dimensional grid;
recording, for each of said sequence of digitized images, the pose and 2D correspondences of each of said landmarks;
reconstructing a location and appearance of a 2-dimensional texture patch from the 2D correspondences of the landmarks of said sequence of digitized images by triangulation and optimization;
computing back-projection errors by comparing said reconstructed texture patch with said first received image;
reconstructing said location and appearance of said 2-dimensional texture patch from the 2D correspondences of the landmarks of said sequence of digitized images by triangulation and optimization after eliminating those landmarks with large back-projection errorssearching for a best match of each landmark correspondence in said reconstructed texture patch, wherein a search range is determined by a maximum back-projection error, wherein said best match is found by minimizing a sum of square differences
3 Assignments
0 Petitions
Accused Products
Abstract
A method of tracking a pose of a moving camera includes receiving a first image from a camera, receiving a sequence of digitized images from said camera, recording, for each of said sequence of digitized images, the pose and 2D correspondences of landmarks, reconstructing a location and appearance of a 2-dimensional texture patch from 2D correspondences of the landmarks by triangulation and optimization, computing back-projection errors by comparing said reconstructed texture patch with said first received image; and reconstructing said location and appearance of said 2-dimensional texture patch from the 2D correspondences of the landmarks of said sequence of digitized images by triangulation and optimization after eliminating those landmarks with large back-projection errors.
-
Citations
17 Claims
-
1. A computer implemented method of tracking a pose of a moving camera, the method performed by the computer comprising the steps of:
-
receiving a first received digitized image from a camera, said image comprising a plurality of intensities corresponding to a domain of points on a 2-dimensional grid, and including one or more landmarks for tracking; receiving a sequence of digitized images from said camera, each image comprising a plurality of intensities corresponding to a domain of points on a 2-dimensional grid; recording, for each of said sequence of digitized images, the pose and 2D correspondences of each of said landmarks; reconstructing a location and appearance of a 2-dimensional texture patch from the 2D correspondences of the landmarks of said sequence of digitized images by triangulation and optimization; computing back-projection errors by comparing said reconstructed texture patch with said first received image; reconstructing said location and appearance of said 2-dimensional texture patch from the 2D correspondences of the landmarks of said sequence of digitized images by triangulation and optimization after eliminating those landmarks with large back-projection errors searching for a best match of each landmark correspondence in said reconstructed texture patch, wherein a search range is determined by a maximum back-projection error, wherein said best match is found by minimizing a sum of square differences - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
-
10. A program storage device readable by a computer, tangibly embodying a program of instructions executable by the computer to perform the method steps for tracking a pose of a moving camera, said method comprising the steps of:
-
receiving a first received digitized image from a camera, said image comprising a plurality of intensities corresponding to a domain of points on a 2-dimensional grid, and including one or more landmarks for tracking; receiving a sequence of digitized images from said camera, each image comprising a plurality of intensities corresponding to a domain of points on a 2-dimensional grid; recording, for each of said sequence of digitized images, the pose and 2D correspondences of each of said landmarks, wherein recording the pose and 2D correspondences of each of said landmarks comprises recording a texture patch about each said landmark, the camera pose from which said texture catch is obtained, and about each said landmark, a set of 3D coordinates of nearby neighbor features, wherein said one or more landmarks are selected based on how well its 3D coordinates can be reconstructed, and wherein said landmarks are evenly distributed among the reconstructed landmarks based on a reliability measure r comprising the term bmax/(ε
avg+ε
std), wherein bmax is a maximum distance between camera centers, ε
avg is an average back-projection error distance, and Estd is a standard deviation of back-projection errors;reconstructing a location and appearance of a 2-dimensional texture patch from the 2D correspondences of the landmarks of said sequence of digitized images by triangulation and optimization; computing back-projection errors by comparing said reconstructed texture patch with said first received image; and reconstructing said location and appearance of said 2-dimensional texture patch from the 2D correspondences of the landmarks of said sequence of digitized images by triangulation and optimization after eliminating those landmarks with large back-projection errors. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
-
Specification