公开(公告)号：US20140368645A1

公开(公告)日：2014-12-18

申请号：US14278928

申请日：2014-05-15

Applicant: QUALCOMM Incorporated

Inventor： Dheeraj AHUJA ,  Kiyoung KIM ,  Yanghai TSIN ,  Seyed Hesameddin NAJAFI SHOUSHTARI

IPC: G06T7/00 ,  H04N7/18

CPC classification number: G06T7/0044 ,  G06T7/246 ,  G06T7/75 ,  G06T2207/20021 ,  G06T2207/30244 ,  H04N7/183

Abstract: Disclosed embodiments pertain to apparatus, systems, and methods for robust feature based tracking. In some embodiments, a score may be computed for a camera captured current image comprising a target object. The score may be based on one or more metrics determined from a comparison of features in the current image and a prior image captured by the camera. The comparison may be based on an estimated camera pose for the current image. In some embodiments, one of a point based, an edge based, or a combined point and edge based feature correspondence method may be selected based on a comparison of the score with a point threshold and/or a line threshold, the point and line thresholds being obtained from a model of the target. The camera pose may be refined by establishing feature correspondences using the selected method between the current image and a model image.

Abstract translation: 公开的实施例涉及用于基于鲁棒特征的跟踪的装置，系统和方法。 在一些实施例中，可以针对包括目标对象的摄像机拍摄的当前图像计算得分。 得分可以基于从当前图像中的特征与由相机捕获的先前图像的比较确定的一个或多个度量。 比较可以基于当前图像的估计的摄像机姿态。 在一些实施例中，可以基于得分与点阈值和/或线阈值的比较来选择基于点，基于边缘的或基于组合的基于点和边缘的特征对应方法中的一个，点和线阈值 从目标的模型中获得。 可以通过使用当前图像和模型图像之间的所选方法建立特征对应来改进相机姿态。

公开(公告)号：US20130322767A1

公开(公告)日：2013-12-05

申请号：US13829099

申请日：2013-03-14

Applicant: QUALCOMM INCORPORATED

Inventor： Hui CHAO ,  Yanghai TSIN ,  Faraz MOHAMMAD MIRZAEI

IPC: G06K9/46

CPC classification number: G06K9/4604 ,  G06T7/73 ,  G06T2207/10004 ,  G06T2207/30244

Abstract: A method for estimating camera pose includes: obtaining an image of a location captured via a camera, where the image includes a target object and edge line features outside of the target object; and calculating a pose of the camera with respect to the target object based on the edge line features.

Abstract translation: 一种用于估计摄像机姿势的方法包括：获得通过照相机拍摄的位置的图像，其中图像包括目标对象，并且边缘线特征在目标对象外部; 以及基于所述边缘线特征来计算相机相对于所述目标对象的姿态。