US 2019/0156143 A1 · Method of Providing Image Feature Descriptors

Abstract

A method of providing a set of feature descriptors configured to be used in matching an object in an image of a camera is provided. The method includes: a) providing at least two images of a first object; b) extracting in at least two of the images at least one feature from the respective image, c) providing at least one descriptor for an extracted feature, and storing the descriptors; d) matching descriptors in the first set of descriptors; e) computing a score parameter based on the result of the matching process; f) selecting at least one descriptor based on its score parameter; g) adding the selected descriptor(s) to a second set of descriptors; and h) updating the score parameter of descriptors in the first set based on a selection process and to the result of the matching process.

Claims20

Dependent claims

A method comprising:

comparing feature descriptors within a first plurality of feature descriptors from a first set of images of an object to determine first match scores associated with each of the first plurality of feature descriptors, the first set of images associated with a first range of camera orientations with respect to gravity;
and
assigning a first subset of the first plurality of feature descriptors to a first descriptor set associated with the first range of camera orientations based on the first match scores;
receiving an additional image captured by a camera at a particular orientation with respect to gravity;
select the first descriptor set in response to a determination that the particular orientation is within the first range of camera orientations with respect to gravity;
and
identifying the object in the additional image based on the selected first descriptor set.

4 more elements

A non-transitory computer readable medium comprising computer readable code executable by one or more processors to:

compare feature descriptors within a first plurality of feature descriptors from a first set of images of an object to determine first match scores associated with each of the first plurality of feature descriptors, the first set of images associated with a first range of camera orientations with respect to gravity;
and
assign a first subset of the first plurality of feature descriptors to a first descriptor set associated with the first range of camera orientations based on the first match scores;
receive an additional image captured by a camera at a particular orientation with respect to gravity;
select the first descriptor set in response to a determination that the particular orientation is within the first range of camera orientations with respect to gravity;
and
identify the object in the additional image based on the selected first descriptor set.

4 more elements

An apparatus comprising:

one or more processors;
and
one or more memory devices storing instructions executable by the one or more processors to:
compare feature descriptors within a first plurality of feature descriptors from a first set of images of an object to determine first match scores associated with each of the first plurality of feature descriptors, the first set of images associated with a first range of camera orientations with respect to gravity;
and
assign a first subset of the first plurality of feature descriptors to a first descriptor set associated with the first range of camera orientations based on the first match scores;
receive an additional image captured by a camera at a particular orientation with respect to gravity;
select the first descriptor set in response to a determination that the particular orientation is within the first range of camera orientations with respect to gravity;
and
identify the object in the additional image based on the selected first descriptor set.

7 more elements

Dependencies are inferred from the claim text.

Method of Providing Image Feature Descriptors

Life of this patent

Method of Providing Image Feature Descriptors

Life of this patent

Abstract

Claims20