Direct scale level selection for multilevel feature tracking under motion blur

A computing apparatus comprising:

• one or more processors;
• and
• a memory storing instructions that, when executed by the one or more processors, configure the apparatus to perform operations comprising:
• accessing a first image and a second image following the first image, the first image and the second image generated by an optical sensor of a visual tracking system;
• determining a first motion blur level of the first image and a second motion blur level of the second image;
• identifying a scale change between the first image and the second image;
• calculating a first matching level based on the first motion blur level, and a second matching level based on the second motion blur level;
• determining a base matching level based on a maximum of the first matching level and the second matching level;
• and
• adjusting the base matching level based on the scale change.

A non-transitory computer-readable storage medium, the computer-readable storage medium including instructions that when executed by a computer, cause the computer to perform operations comprising:

• accessing a first image and a second image following the first image, the first image and the second image generated by an optical sensor of a visual tracking system;
• determining a first motion blur level of the first image and a second motion blur level of the second image;
• identifying a scale change between the first image and the second image;
• calculating a first matching level based on the first motion blur level, and a second matching level based on the second motion blur level;
• determining a base matching level based on a maximum of the first matching level and the second matching level;
• and
• adjusting the base matching level based on the scale change.