Real time photometric edge description
AssigneeMicrosoft Technology Licensing, LLC
InventorsBritta S. Hummel, Oliver Williams, Abdelrehim Ahmed
Life of this patent
Estimating the term…
Abstract
Systems and methods are disclosed for describing and tracking edges within the field of view of one or more imaging devices. In one example, the present system defines a row of pixels taken across a width of the edge, and then determines a binary edge descriptor for the edge by comparing at least one of grayscale values and contrast of pixels within respective pixel pairs from the row of pixels, the result of the comparisons setting bits within the binary descriptor.
Claims20
A photometric system for describing an edge within a field of view, comprising:
- an offset patch of pixels taken across a width of the edge, the patch having a single row of a predetermined number of pixels;
- and
- a binary edge descriptor determined by comparing pixel pairs within the offset patch under a predetermined rule, the result of the comparisons under the predetermined rule setting bits within the binary descriptor.
One or more processor readable storage devices having processor readable code embodied on said processor readable storage devices, said processor readable code for programming one or more processors of a computing environment to perform a method of describing an edge captured within a field of view of an imaging device, the method comprising:
- (a) determining a point of interest on the edge;
- (b) determining an orientation of the edge;
- (c) identifying a row of pixels through the point of interest and oriented across a width of the edge;
- (d) comparing properties of different pixel pairs within the row of pixels identified in the step (c);
- and
- (e) setting the bits of a binary descriptor based on the result of the comparisons performed in said step (d).
A method of matching an edge within first and second images, the method comprising:
- (a) describing the edge from the first image by the steps of:
- (i) defining an offset patch of pixels taken across a width of the edge, the patch having a single row of a predetermined number of pixels, and
- (ii) defining a binary edge descriptor by comparing at least one of grayscale values and contrast of pixels within respective pixel pairs within the offset patch, the result of the comparisons setting bits within the binary descriptor;
- and
- (b) matching the edge from the first image with the edge of the second image by the steps of:
- (i) computing binary edge descriptors for points of interest on a proposed edge in the second image,
- (ii) confirming the proposed edge in the second image as matching the edge in the first image where the Hamming distance between the edge descriptors for the points of interest on the proposed edge in the second image and the edge descriptor for the edge in the first image is below a predetermined value.
Dependencies are inferred from the claim text.