SALIENT POINT-BASED ARRANGEMENTS
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Accused Products
Abstract
A variety of methods and systems involving sensor-equipped portable devices, such as smartphones and tablet computers, are described. One particular embodiment decodes a digital watermark from imagery captured by the device and, by reference to watermark payload data, obtains salient point data corresponding to an object depicted in the imagery. Other embodiments obtain salient point data for an object through use of other technologies (e.g., NFC chips). The salient point data enables the device to interact with the object in a spatially-dependent manner. Many other features and arrangements are also detailed.
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Citations
35 Claims
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1-20. -20. (canceled)
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21. A method that processes imagery captured by a first mobile device, the method comprising the acts:
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capturing imagery of a scene with a camera of the first mobile device, the scene including an object; processing the imagery by applying a recognition operation thereto, the recognition operation yielding identification data corresponding to the object; through use of the identification data, accessing—
from a database—
first information associated with the object, the first information indicating a position of the object relative to a reference framework;determining a device-object pose, of the device relative to the object, using second information derived from the captured imagery; and by reference to the object position-indicating first information from the database, and the determined pose of the device relative to the object, determining a device-framework pose, of the device in said reference framework; wherein camera imagery is used both in identifying the object, and in identifying the position of the device within the reference framework. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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33. A non-transitory computer-readable medium containing software instructions operable to configure a first mobile device to perform acts including:
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capturing imagery of a scene with a camera of the first mobile device; processing the imagery by applying a recognition operation thereto, the recognition operation yielding identification data corresponding to an object depicted in the scene; through use of the identification data, receiving—
from a database—
first information associated with the object, the first information indicating a position of the object relative to a reference framework;determining a device-object pose, of the device relative to the object, using second information derived from the captured imagery; and by reference to the object position-indicating first information from the database, and the determined pose of the device relative to the object, determining a device-framework pose, of the device in said reference framework; wherein camera imagery is used both in identifying the object, and in identifying the position of the device within the reference framework.
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34. A mobile device comprising:
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a camera; one or more processors; a memory; object recognition software stored in the memory; an interface to communicate with a remote device, configured by software in the memory to transmit data output by the object recognition software to said remote device, and to receive data locating the object in a reference framework, and reference descriptors for object salient points, in return; and means for determining a device-object pose, using the salient point descriptors received from the remote device; wherein the determined device-object pose, together with the object location data received from the remote device, equip the mobile device to determine the position of the device within the reference framework.
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35. The mobile device of claim 0 wherein said means comprises instructions stored in the memory that configure the one or more processors to perform an algorithm including the acts:
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identifying salient points in the captured imagery, and generating descriptors for plural of said identified salient points, wherein there are two sets of salient point descriptors—
a reference set received from the remote device, and a set generated by the mobile device from the captured imagery;matching a first salient point descriptor in a first of said two sets, to a corresponding salient point descriptor in a second of said two sets, by analyzing salient descriptors in the second set to identify a descriptor having a minimum sum-of-squared difference with the first salient point descriptor; repeating said matching act with plural other salient point descriptors in said first set, to identify a corresponding salient point descriptor in the second set for each of said plural other salient point descriptors in the first set, thereby yielding a plurality of paired salient points; and determining coordinates of a matrix that relate the salient points in the first set, to their paired salient points in the second set; wherein said matrix coordinates define said device-object pose.
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Specification