公开(公告)号：US09025823B2

公开(公告)日：2015-05-05

申请号：US13797742

申请日：2013-03-12

Applicant: QUALCOMM Incorporated

Inventor： Yanghai Tsin ,  Kiyoung Kim

IPC: G06K9/00 ,  G06T7/00

CPC classification number: G06T7/0042 ,  G06T7/251 ,  G06T2207/30244

Abstract: A method of real-time tracking of an object includes capturing a first and a second image of the object. The object is detected in the first image and movement of the object is tracked between the images. Tracking of the object includes obtaining an initial pose of the camera; projecting an image of a model object onto the second image; determining a gradient profile of the second image from an edge point of the model object along a first direction that is normal to the edge of the model object; computing a radius on the gradient profile; determining a rank order of the peaks of the gradient profile along the radius; comparing the rank order with a predetermined rank order to generate a feature candidate point; and reducing a distance along the first direction between the feature candidate point and the edge point on the edge of the model object.

Abstract translation: 对对象的实时跟踪的方法包括捕获对象的第一和第二图像。 在第一图像中检测到物体，并且在图像之间追踪对象的移动。 对象的跟踪包括获得相机的初始姿态; 将模型对象的图像投影到第二图像上; 沿着与模型对象的边缘正交的第一方向从模型对象的边缘点确定第二图像的渐变分布; 计算梯度轮廓上的半径; 确定沿半径的梯度轮廓的峰值的等级次序; 将秩顺序与预定秩次进行比较以生成特征候选点; 并且减少特征候选点与模型对象边缘上的边缘点之间沿第一方向的距离。