Method of displaying an object

A method of displaying a virtual object on a computing device comprising a memory, a camera and a display, said memory adapted to store a plurality of reference images and a plurality of three dimensional (3D) models, wherein each reference image is associated with one 3D model, said method comprising:

• acquiring an image from the camera, said acquired image comprising texturized sections,
• recognizing a reference image corresponding to the virtual object on the acquired image based upon the reference image,
• forming a 3D model associated with the reference image, forming a transformation matrix for mapping coordinates of the acquired image with coordinates of the 3D model;
• said transformation matrix formed as follows:
• determining Features from Accelerated Segment Test (FAST), points on the acquired image;
• determining a first subset of interest points based upon determined FAST points;
• define a first set of areas based upon the determined first subset of interest points;
• determine object features on the acquired image by performing a number of iterations of:
• determining a set of FAST points on the acquired image within the most promising first set of areas:
• determining a set of interest points on the acquired image based on the set of FAST points;
• forming a second set of areas for detecting object features of the object on the acquired image;
• said second set areas are being reduced by a scaling factor;
• determining coordinates of the object features on the acquired image based upon the second set of areas selected;
• arranging the determined object features in a 3D space;
• juxtaposing determined coordinates of the object features with coordinates of vertices of a texture coordinate mapping grid of the texturized sections of the acquired image and its mapping onto the 3D model;
• if determined object features and vertices of the texture coordinate mapping grid do not coincide, adjusting the mapping accordingly to achieve relative displacement of said object features to the vertices of the texture coordinate mapping grid;
• generating the transformation matrix of the coordinates of the texture coordinate mapping grid with the coordinates of the 3D model;
• using said transformation matrix mapping coordinates of the texturized sections of the acquired image to corresponding sections of the 3D model to determine sections of 3D model corresponding to the texturized sections of the acquired image;
• painting the sections of the 3D model using colors and textures of the corresponding texturized sections of the acquired image, and
• displaying the 3D model over a video stream using augmented reality tools and/or computer vision algorithms.