| 主权项 |
1. A computer-implemented method of building a database containing a plurality of features corresponding to a 3-dimensional (3D) target object, the method comprising:
acquiring a plurality of images of the target object, wherein each of the plurality of images are acquired from a distinct and known viewpoint of the target object; extracting a first set of features from the plurality of images, wherein each extracted feature includes a descriptor and a corresponding keypoint location; selecting a feature from the first set of features; and then,
(a) determining a second set of features corresponding to the selected feature, wherein the second set of features includes features of the first set that have both, a descriptor that matches a descriptor of the selected feature, and a keypoint location proximate to a keypoint location of the selected feature;(b) determining a repeatability of the selected feature;(c) determining a discriminability of the selected feature; and(d) storing at least one derived feature based, at least, on the repeatability of the selected feature, a repeatability threshold, the discriminability of the selected feature, and a discriminability threshold, wherein the at least one derived feature is representative of the second set of features. |
