Passive object tracking using camera
US10719953B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 27, 2018 |
| Grant date | Jul 21, 2020 |
| Priority date | — |
| Expiry date | Sep 7, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30208
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A system tracks poses of a passive object using fiducial markers on fiducial surfaces of a polygonal structure of the object using image data captured by a camera. The system includes an object tracking controller that generates an estimated pose for a frame of the image data using an approximate pose estimation (APE), and then updates the estimated pose using a dense pose refinement (DPR) of pixels. The APE may include minimizing reprojection error between projected image points of the fiducial markers and observed image points of the fiducial markers in the frame. The DPR may include minimizing appearance error between image pixels of the fiducial markers in the frame and projected model pixels of the fiducial markers determined from the estimated pose and the object model. In some embodiments, an inter-frame corner tracking (ICT) of the fiducial markers may be used to facilitate the APE.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.