公开(公告)号：US20150098614A1

公开(公告)日：2015-04-09

申请号：US14494947

申请日：2014-09-24

Applicant: QUALCOMM Incorporated

Inventor： Andrew GEE ,  Qi PAN ,  Michael GERVAUTZ

IPC: G06K9/00 ,  G06T19/00

CPC classification number: G06K9/00624 ,  G06K9/00671 ,  G06T19/006

Abstract: A computer-implemented method of tracking a target object in an object recognition system includes acquiring a plurality of images with a camera. The method further includes simultaneously tracking the target object and dynamically building environment map data from the plurality of images. The tracking of the target object includes attempting to estimate a target pose of the target object with respect to the camera based on at least one of the plurality of images and based on target map data. Next, the method determines whether the tracking of the target object with respect to the camera is successful. If not, then the method includes inferring the target pose with respect to the camera based on the dynamically built environment map data. In one aspect the method includes fusing the inferred target pose with the actual target pose even if tracking is successful to improve robustness.

Abstract translation: 在物体识别系统中跟踪目标对象的计算机实现的方法包括用相机获取多个图像。 该方法还包括同时跟踪目标对象并从多个图像动态构建环境地图数据。 目标对象的跟踪包括基于多个图像中的至少一个并且基于目标地图数据来尝试估计目标物体相对于照相机的目标姿态。 接下来，该方法确定目标对象相对于照相机的跟踪是否成功。 如果不是，则该方法包括基于动态构建的环境地图数据推测相对于摄像机的目标姿态。 在一个方面，该方法包括将所推断的目标姿态与实际目标姿态进行融合，即使跟踪成功以提高鲁棒性。