Detection, 3D reconstruction and tracking of multiple rigid objects moving in relation to one another
AssigneeConti Temic microelectronic GmbH
InventorAxel Roth
Life of this patent
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Abstract
The disclosure relates to a method and a system for the detection, 3D reconstruction and tracking of multiple rigid objects moving relative to one another from a series of images from at least one camera and can be used, in particular, in the context of a camera-based environment detection system for assisted or automated driving.
Claims12
A method for detection, 3D reconstruction and tracking of multiple rigid objects moving relative to one another from a series of images from at least one camera, comprising:
- selecting, by processor circuitry, images at determined capture times (key cycles) from the series of images from the at least one camera;
- collectively optimizing, by the processor circuitry, all parameters of a model for describing the rigid objects based on the selected images from the key cycles on a basis of sparsely selected pixels in the key cycles, wherein the model comprises parameters for describing a number, a 3D structure, and positions of the rigid objects in the key cycles and an assignment of the sparsely selected pixels to the rigid objects;
- by
- minimizing, by the processor circuitry, an error function, wherein the error function comprises a photometric error Ephoto according to intensities of images of multiple key cycles, and a first a priori energy term Ecomp according to the number of the rigid objects;
- and
- outputting, by the processor circuitry, the number, the 3D structure and a trajectory of the rigid objects from the series of images.
A device for detection, 3D reconstruction and tracking of multiple rigid objects moving relative to one another from a series of images from at least one camera received by an input unit, comprising the input unit, a selection unit, an optimization unit, and an output unit, wherein
- the selection unit comprises processor circuitry that is configured to select images at determined capture times (key cycles) from the series of images from the at least one camera;
- the optimization unit comprises the processor circuitry that is configured to
- collectively optimize all model parameters of a model for describing the rigid objects moving relative to one another based on the selected images from the key cycles on a basis of sparsely selected pixels in the key cycles, wherein the model comprises parameters for describing a number, a 3D structure, and positions of the rigid objects in the key cycles and an assignment of the sparsely selected pixels to the rigid objects;
- by
- minimizing an error function, wherein the error f unction comprises a photometric error Ephoto and a first a priori energy term Ecomp according to the number of the rigid objects;
- and
- the output unit comprises the processor circuitry that is configured to output the number, the 3D structure and a trajectory of the rigid objects from the series of images.
Dependencies are inferred from the claim text.