Method and device with sensing data processing
AssigneeSamsung Electronics Co., Ltd.
InventorsDonghoon Sagong, Hojin Ju
Life of this patent
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Abstract
A sensing data processing device is provided. The sensing data processing device may track keypoints within a full observable range of the sensing data processing device based on sensing data collected from a previous frame and a sensing data collected from a current frame through a reference sensor, the full observable range determined based on a combined field of view (FOV) of sensors, manage a new keypoint together with the keypoints in response to the new keypoint being detected, and perform localization of the device based on the managed keypoints.
Claims21
A sensing data processing device, comprising:
- a reference sensor configured to generate sensing data by capturing a scene with a field of view (FOV);
- and
- a processor configured to:
- track keypoints within a full observable range of the sensing data processing device based on sensing data collected from a previous frame and sensing data collected from a current frame by the reference sensor, and
- manage a new keypoint together with the tracked keypoints in response to a detection of the new keypoint,
- wherein the full observable range is determined based on a combined FOV of the reference sensor and a second sensor, and
- wherein the processor is further configured to update which region the tracked keypoints belong to within the full observable range based on changed positions of the tracked keypoints.
A processor-implemented sensing data processing method, the method, comprising:
- tracking keypoints within a full observable range of a sensing data processing device based on sensing data collected from a previous frame and sensing data collected from a current frame by a reference sensor by capturing a scene with a field of view (FOV);
- refining the tracked keypoints;
- and
- managing a new keypoint together with the tracked keypoints in response to a detection of the new keypoint,
- wherein the full observable range is determined based on a combined FOV of the reference sensor and a second sensor, and
- wherein the tracking comprises updating which region the tracked keypoints belong to within the full observable range based on changed positions of the tracked keypoints.
A sensing data processing device, comprising:
- a first sensor, configured to capture a first image with a first field of view (FOV);
- a second sensor, divergent from the first sensor, and configured to capture a second image with a second FOV;
- one or more processors, configured to:
- determine an overlapping area and non-overlapping areas between the first image and the second image;
- detect keypoints in the overlapping area and the non-overlapping areas;
- track changes in positions of the keypoints in the overlapping area and the non-overlapping areas for each consecutive frame of the first image and the second image;
- refine the tracked keypoints by removing an outlier from the tracked keypoints, and
- manage a new keypoint together with the tracked keypoints in response to a detection of the new keypoint in a current frame.
Dependencies are inferred from the claim text.