Method of determining reference features for use in an optical object initialization tracking process and object initialization tracking method

摘要

A method of determining reference features for use in an optical object initialization tracking process is disclosed, said method comprising the following steps: a) capturing at least one current image of a real environment or synthetically generated by rendering a virtual model of a real object to be tracked with at least one camera and extracting current features from the at least one current image, b) providing reference features adapted for use in an optical object initialization tracking process, c) matching a plurality of the current features with a plurality of the reference features, d) estimating at least one parameter associated with the current image based on a number of current and reference features which were matched, and determining for each of the reference features which were matched with one of the current features whether they were correctly or incorrectly matched, e) wherein the steps a) to d) are processed iteratively multiple times.

主权项

1. A method of determining reference features for use in an optical object initialization tracking process, said method comprising the following steps:
a) providing at least one current image of a real environment or synthetically generated by rendering a virtual model of a real object to be tracked with at least one camera and extracting current features from the at least one current image; b) providing reference features adapted for use in an optical object initialization tracking process; c) matching a plurality of the current features with a plurality of the reference features; d) estimating at least one parameter associated with the current image based on a number of current and reference features which were matched, and determining for each of the reference features which were matched with one of the current features whether they were correctly or incorrectly matched; e) wherein the steps a) to d) are processed iteratively multiple times, wherein in step a) of every respective iterative loop a respective new current image is captured by at least one camera and steps a) to d) are processed with respect to the respective new current image; f) determining at least one indicator associated to reference features which were correctly matched and/or to reference features which were incorrectly matched, wherein the at least one indicator is determined depending on how often the respective reference feature has been correctly matched or incorrectly matched, respectively, and wherein in step d) the method includes the step of comparing at least one property of the current image with at least one property of a reference image, which provides the reference features, under consideration of a pose of the at least one camera while capturing the at least one current image, and verifying the pose of the at least one camera based on the comparison, and wherein the at least one indicator is updated if the pose of the at least one camera is verified, and wherein the comparison is according to pixel information of the current and reference images.