Robust tracking using point and line features

A User device (UD) comprising:

• a camera configured to capture a plurality of images of comprising a target object,
• a memory configured to store a model of the target object, and
• a processor coupled to the camera and the memory, the processor configured to:
• compute a score for a current image captured by the camera, the score based, at least in part, on one or more metrics determined from a comparison of features in the current image and a prior image captured by the camera, and wherein the comparison is based on an estimated camera pose for the current image;
• and
• select one of a point based, an edge based, or a combined point and edge based feature correspondence method based, at least in part, on a comparison of the score with at least one point threshold and at least one line threshold, the at least one point threshold and the at least one line threshold obtained from the model of the target object.

An apparatus comprising:

• imaging means for capturing a plurality of images of comprising a target object;
• storage means for storing a model of the target object, the storage means coupled to the imaging means;
• means for computing a score for a current image captured by the imaging means, the score based, at least in part, on one or more metrics determined from a comparison of features in the current image and a prior image captured by the imaging means, and wherein the comparison is based on an estimated imaging means pose for the current image;
• and
• means for selecting one of a point based, an edge based, or a combined point and edge based feature correspondence method based, at least in part, on a comparison of the score with at least one point threshold and at least one line threshold, the at least one point threshold and the at least one line threshold obtained from the stored model of the target object.