Tracking objects between images
First Claim
1. A computing device comprising:
- a camera;
one or more processors;
a memory device including instructions that, when executed by the one or more processors, cause the computing device to;
acquire an image by the camera;
identify a plurality of image points of the image;
determine a feature score for individual image points of the plurality of image points using a feature detector, the feature score representing a degree of distinctiveness of an image point;
select a plurality of candidate points from the plurality of image points based at least in part on the feature score for the individual image points;
determine a patch score for individual candidate points of the plurality of candidate points, the patch score representing a degree of similarity between a first patch of the image and a second patch of the image, the first patch surrounding a candidate point of the plurality of candidate points;
determine a spatial distribution of the plurality of candidate points; and
select a tracking point from the plurality of candidate points based at least in part on the patch scores of the individual candidate points and the spatial distribution.
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Abstract
Systems and methods track one or more points between images. A point for tracking may be selected, at least in part, on a determination of how discriminable the point is relative to other points in a region containing the point. A point of an image being tracked may be located in another image by matching a patch containing the point with another patch of the other image. A search for a matching patch may be focused in a region that is determined based at least in part on an estimate of movement of the point between images. Points may be tracked across multiple images. If an ability to track one or more points is lost, information about the points being tracked may be used to relocate the points in another image.
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Citations
20 Claims
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1. A computing device comprising:
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a camera; one or more processors; a memory device including instructions that, when executed by the one or more processors, cause the computing device to; acquire an image by the camera; identify a plurality of image points of the image; determine a feature score for individual image points of the plurality of image points using a feature detector, the feature score representing a degree of distinctiveness of an image point; select a plurality of candidate points from the plurality of image points based at least in part on the feature score for the individual image points; determine a patch score for individual candidate points of the plurality of candidate points, the patch score representing a degree of similarity between a first patch of the image and a second patch of the image, the first patch surrounding a candidate point of the plurality of candidate points; determine a spatial distribution of the plurality of candidate points; and select a tracking point from the plurality of candidate points based at least in part on the patch scores of the individual candidate points and the spatial distribution. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A computer-implemented method, comprising:
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acquiring an image by a camera of a computing device; identifying a plurality of image points of the image; determining a feature score for individual image points of the plurality of image points using a feature detector, the feature score representing a degree of distinctiveness of an image point; selecting a plurality of candidate points from the plurality of image points based at least in part on the feature score for the individual image points; determining a patch score for individual candidate points of the plurality of candidate points, the patch score representing a degree of similarity between a first patch of the image and a second patch of the image, the first patch surrounding a candidate point of the plurality of candidate points; determining a spatial distribution of the plurality of candidate points; and selecting a tracking point from the plurality of candidate points based at least in part on the patch scores of the individual candidate points and the spatial distribution. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A non-transitory computer readable storage medium storing instructions, the instructions when executed by a processor causing the processor to:
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acquire an image by a camera of a computing device; identify a plurality of image points of the image; determine a feature score for individual image points of the plurality of image points using a feature detector, the feature score representing a degree of distinctiveness of an image point; select a plurality of candidate points from the plurality of image points based at least in part on the feature score for the individual image points; determine a patch score for individual candidate points of the plurality of candidate points, the patch score representing a degree of similarity between a first patch of the image and a second patch of the image, the first patch surrounding a candidate point of the plurality of candidate points; determine a spatial distribution of the plurality of candidate points; and select a tracking point from the plurality of candidate points based at least in part on the patch scores of the individual candidate points and the spatial distribution. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification