Real time tracking/detection of multiple targets

摘要

A mobile platform detects and tracks at least one target in real-time, by tracking at least one target, and creating an occlusion mask indicating an area in a current image to detect a new target. The mobile platform searches the area of the current image indicated by the occlusion mask to detect the new target. The use of a mask to instruct the detection system where to look for new targets increases the speed of the detection task. Additionally, to achieve real-time operation, the detection and tracking is performed in the limited time budget of the (inter) frame duration. Tracking targets is given higher priority than detecting new targets. After tracking is completed, detection is performed in the remaining time budget for the frame duration. Detection for one frame, thus, may be performed over multiple frames.

主权项

1. A method of real-time pose estimation and tracking, the method comprising:
tracking at least one target; creating an occlusion mask based on the at least one tracked target; and searching the area of the current image indicated by the occlusion mask, which comprises pixels in the current image that are not covered by the occlusion mask, to detect a new target.