Occlusion-robust visual object fingerprinting using fusion of multiple sub-region signatures
First Claim
1. A method comprising:
- receiving an indication of an object within a sequence of video frames;
selecting, from the sequence of video frames, a reference image frame indicative of the object and candidate image frames representative of possible portions of the object;
dividing the reference image frame and the candidate image frames into multiple cells;
defining, for the reference image frame and the candidate image frames, a plurality of sub-regions of the multiple cells, wherein one or more of the sub-regions include the same cells for overlapping representations and wherein the plurality of sub-regions include multiple sizes;
comparing characteristics of the plurality of sub-regions of the reference image frame to characteristics of the plurality of sub-regions of the candidate image frames and determining similarity measurements; and
based on the similarity measurements, tracking the object within the sequence of video frames.
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Abstract
Within examples, methods and systems for occlusion-robust object fingerprinting using fusion of multiple sub-region signatures are described. An example method includes receiving an indication of an object within a sequence of video frames, selecting from the sequence of video frames a reference image frame indicative of the object and candidate image frames representative of possible portions of the object, dividing the reference image frame and the candidate image frames into multiple cells, defining for the reference image frame and the candidate image frames sub-regions of the multiple cells such that the sub-regions include the same cells for overlapping representations and the sub-regions include multiple sizes, comparing characteristics of sub-regions of the reference image frame to characteristics of sub-regions of the candidate image frames and determining similarity measurements, and based on the similarity measurements, tracking the object within the sequence of video frames.
32 Citations
20 Claims
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1. A method comprising:
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receiving an indication of an object within a sequence of video frames; selecting, from the sequence of video frames, a reference image frame indicative of the object and candidate image frames representative of possible portions of the object; dividing the reference image frame and the candidate image frames into multiple cells; defining, for the reference image frame and the candidate image frames, a plurality of sub-regions of the multiple cells, wherein one or more of the sub-regions include the same cells for overlapping representations and wherein the plurality of sub-regions include multiple sizes; comparing characteristics of the plurality of sub-regions of the reference image frame to characteristics of the plurality of sub-regions of the candidate image frames and determining similarity measurements; and based on the similarity measurements, tracking the object within the sequence of video frames. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A non-transitory computer readable medium having stored thereon instructions that, upon execution by a computing device, cause the computing device to perform functions comprising:
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receiving an indication of an object within a sequence of video frames; selecting, from the sequence of video frames, a reference image frame indicative of the object and candidate image frames representative of possible portions of the object; dividing the reference image frame and the candidate image frames into multiple cells; defining, for the reference image frame and the candidate image frames, a plurality of sub-regions of the multiple cells, wherein one or more of the sub-regions include the same cells for overlapping representations and wherein the plurality of sub-regions include multiple sizes; comparing characteristics of the plurality of sub-regions of the reference image frame to characteristics of the plurality of sub-regions of the candidate image frames and determining similarity measurements; and based on the similarity measurements, tracking the object within the sequence of video frames. - View Dependent Claims (13, 14, 15)
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16. A system comprising:
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a camera to collect information of an environment of a vehicle and to output a sequence of video frames; a processor to track an object within the sequence of video frames by; determining, from the sequence of video frames, a reference image frame indicative of the object and candidate image frames representative of possible portions of the object; dividing the reference image frame and the candidate image frames into multiple cells; defining, for the reference image frame and the candidate image frames, a plurality of sub-regions of the multiple cells, wherein one or more of the sub-regions include the same cells for overlapping representations and wherein the plurality of sub-regions include multiple sizes; comparing characteristics of the plurality of sub-regions of the reference image frame to characteristics of the plurality of sub-regions of the candidate image frames and determining similarity measurements; and based on the similarity measurements, tracking the object within the sequence of video frames. - View Dependent Claims (17, 18, 19, 20)
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Specification