Systems and Methods for Feature-Based Tracking

A User Device (UD) comprising:

• a camera, the camera to capture a first image and a second image subsequent to the first image, and
• a processor coupled to the camera, the processor configured to:
• obtain a camera pose relative to a tracked object in the first image,
• determine a predicted camera pose relative to the tracked object for the second image based, in part, on a motion model of the tracked object, and
• obtain an updated Special Euclidean Group (3) (SE(3)) camera pose, based, in part on the predicted camera pose, by estimating a plane induced homography using an equation of a dominant plane of the tracked object, wherein the plane induced homography is used to align a first lower resolution version of the first image and a first lower resolution version of the second image by minimizing the sum of the squared intensity differences of the first lower resolution version of the first image and the first lower resolution version of the second image.

An apparatus comprising:

• imaging means, the imaging means to capture a first image and a second image subsequent to the first image,
• means for obtaining a imaging means pose relative to a tracked object in the first image;
• means for determining a predicted imaging means pose relative to the tracked object for the second image based, in part, on a motion model of the tracked object;
• and
• means for obtaining an updated Special Euclidean Group (3) (SE(3)) imaging means pose, based, in part on the predicted imaging means pose, by estimating a plane induced homography using an equation of a dominant plane of the tracked object, wherein the plane induced homography is used to align a first lower resolution version of the first image and a first lower resolution version of the second image by minimizing the sum of the squared intensity differences of the first lower resolution version of the first image and the first lower resolution version of the second image.

A non-transitory computer-readable medium comprising instructions, which, when executed by a processor, perform steps in a method, the steps comprising:

• obtaining a camera pose relative to a tracked object in a first image;
• determining a predicted camera pose relative to the tracked object for a second image subsequent to the first image based, in part, on a motion model of the tracked object;
• and
• obtaining an updated Special Euclidean Group (3) (SE(3)) camera pose, based, in part on the predicted camera pose, by estimating a plane induced homography using an equation of a dominant plane of the tracked object, wherein the plane induced homography is used to align a first lower resolution version of the first image and a first lower resolution version of the second image by minimizing the sum of the squared intensity differences of the first lower resolution version of the first image and the first lower resolution version of the second image.