公开(公告)号：US12073630B2

公开(公告)日：2024-08-27

申请号：US17513859

申请日：2021-10-28

申请人： HUAWEI TECHNOLOGIES CO., LTD.

发明人： Wanlong Li ,  Xueshi Li ,  Yajun Gao ,  Feng Wen

IPC分类号： G06T7/246 ,  G06T7/277 ,  G06V10/25 ,  G06V20/56

CPC分类号： G06V20/56 ,  G06T7/246 ,  G06T7/277 ,  G06V10/25 ,  G06T2207/30244 ,  G06T2207/30252

摘要： This disclosure provides a moving object tracking method and apparatus. The method includes: obtaining a current frame captured by a camera; predicting a current state vector of the camera based on an inertial measurement unit IMU and the current frame, to obtain a predicted value of the current state vector of the camera; predicting a current state vector of a target object that is moving in the current frame, to obtain a predicted value of the current state vector of the target object; and updating a Kalman state vector based on a measurement result of an image feature in the current frame. According to technical solutions provided in this disclosure, a target object that is moving in a surrounding environment can be tracked and a pose of the target object can be estimated while a pose of a system can be estimated.