OPTIMIZED OBJECT DETECTION

摘要

Disclosed are a system, apparatus, and method for detecting objects. Input image frames may be received and distinct regions created within each frame. Descriptors may be extracted from the regions according to their associated probability. Extracted descriptors may be matched to reference descriptors. Votes or confidence is cast for particular regions according to region properties. The region properties may be determined from center voting methods based on vector intersection to other vectors or intersections with a region. The probability of selecting particular regions can increase with each vote or increase in confidence for a region. In response to updating probabilities, additional regions may be selected and additional descriptors may be extracted. Additional voting iterations can update the probability of selecting a next region. An object pose may be estimated in response to meeting one or more thresholds.

主权项

1. A method for detecting a target object, the method comprising:
receiving an input image frame; creating a plurality of distinct regions within the input image frame, wherein the plurality of distinct regions has a first probability distribution comprising of a particular probability of being selected for each respective region in the plurality of distinct regions; selecting, according to the first probability distribution, a first region from the plurality of distinct regions; extracting, from the first region, a first one or more descriptors from a first one or more feature points detected within the first region; analyzing one or more properties of the first region to update a particular probability of the first region being selected; creating a second probability distribution for the plurality of distinct regions according to the particular probability of the first region being selected; selecting, according to the second probability distribution, a second region from the plurality of distinct regions; extracting, from the second region, a second one or more descriptors from a second one or more feature points detected within the second region; and referencing at least the first one or more descriptors and the second one or more descriptors for detecting the target object.