Detection of an object in a distorted image

A non-transitory computer readable medium having a program stored thereon for determining an object in a distorted image, the program comprising:

• code for detecting a location of a first part of the object on the distorted image on a distorted image plane;
• code for determining a corresponding location of the first part of the object on an undistorted image plane corresponding to the distorted image based on a plurality of calibration parameters;
• code for predicting a location of a second part of the object on the undistorted image plane based on the determined location of the first part of the object on the undistorted image plane;
• code for determining a corresponding location of the second part of the object on the distorted image based on the predicted location of the second part of the object on the undistorted image plane and the calibration parameters;
• code for determining the object based on the detected location of the first part of the object and the determined location of the second part of the object in the distorted image;
• code for generating a rectified image of the object based on a determined bounding box;
• determining an appearance descriptor based on the rectified image;
• and matching the image of the object to at least one other image of the object based on the determined appearance descriptors.

An apparatus for determining an object in a distorted image, the apparatus configured to detect a location of a first part of the object on the distorted image on a distorted image plane;

• determine a corresponding location of the first part of the object on an undistorted image plane corresponding to the distorted image based on a plurality of calibration parameters;
• predict a location of a second part of the object on the undistorted image plane based on the determined location of the first part of the object on the undistorted image plane;
• determine a corresponding location of the second part of the object on the distorted image based on the predicted location of the second part of the object on the undistorted image plane and the calibration parameters;
• determine the object based on the detected location of the first part of the object and the determined location of the second part of the object in the distorted image;
• generate a rectified image of the object based on a determined bounding box;
• determine an appearance descriptor based on the rectified image;
• and match the image of the object to at least one other image of the object based on the determined appearance descriptors.

A system comprising:

• an image capture device configured to capture a distorted image;
• a memory for storing data and a computer readable medium;
• and a processor coupled to the memory for executing a computer program, the processor in communication with the image capture device via a network, the program having instructions for:
• detecting a location of a first part of an object on a distorted image on a distorted image plane received from the image capture device;
• determine a corresponding location of the first part of the object on an undistorted image plane corresponding to the distorted image based on a plurality of calibration parameters;
• predict a location of a second part of the object on the undistorted image plane based on the determined location of the first part of the object on the undistorted image plane;
• determine a corresponding location of the second part of the object on the distorted image based on the predicted location of the second part of the object on the undistorted image plane and the calibration parameters;
• determine the object based on the detected location of the first part of the object and the determined location of the second part of the object in the distorted image;
• generate a rectified image of the object based on a determined bounding box;
• determine an appearance descriptor based on the rectified image;
• and match the image of the object to at least one other image of the object based on the determined appearance descriptors.