LINE SEGMENT TRACKING IN COMPUTER VISION APPLICATIONS

摘要

Techniques are disclosed for tracking objects in computer vision (CV) applications, involving identifying line segments in an image and using iterative approach of computing and analyzing spatial and angular distribution of different sets of line segments to identify a set of line segments with relatively high spatial and/or angular distribution, which can reduce the likelihood of error in tracking. Some techniques may further employ a quality check of the selected line segments. An estimation of a device's pose (translation and orientation) may be calculated from tracked line segments.

主权项

1. A method of line segment detection and matching in a computer vision application, the method comprising:
receiving at least one image of a physical environment; identifying a plurality of line segments in the at least one image of the physical environment; (i) selecting a first subset of the plurality of line segments in the image; (ii) computing an angular distribution and a spatial distribution of the first subset of the plurality of line segments; (iii) determining whether the angular distribution and the spatial distribution of the first subset of the plurality of line segments satisfy predetermined angular and spatial criteria; repeating (i), (ii), and (iii) with one or more new subsets of the of the plurality of line segments until a qualifying subset of the plurality of line segments is determined, the qualifying subset having a computed angular distribution and spatial distribution satisfying the predetermined angular and spatial criteria; and providing the qualifying subset of the plurality of line segments.