Accelerated geometric shape detection and accurate pose tracking

摘要

A reference in an unknown environment is generated on the fly for positioning and tracking. The reference is produced in a top down process by capturing an image of a planar object with a predefined geometric shape, detecting edge pixels of the planar object, then detecting a plurality of line segments from the edge pixels. The plurality of line segments may then be used to detect the planar object in the image based on the predefined geometric shape. An initial pose of the camera with respect to the planar object is determined and tracked using the edges of the planar object.

主权项

1. A method comprising:
capturing an image of a planar object with a camera, the planar object having a predefined geometric shape; detecting edge pixels of the planar object in the image, wherein detecting edge pixels comprises:
calculating a gradient magnitude and a gradient orientation of each pixel in the image on a sparse grid; andperforming a non-maximum suppression by comparing the gradient magnitude of pixels on the sparse grid to gradient magnitudes of nearest neighboring pixels along the gradient orientation and that are not on the sparse grid; detecting a plurality of line segments from the edge pixels; using the plurality of line segments to detect the planar object in the image based on the predefined geometric shape; determining an initial pose of the camera using the planar object; and tracking a pose of the camera with respect to the planar object in subsequently captured images using the initial pose and edges of the planar object.