Object detection and tracking
AssigneeSeiko Epson Corporation
InventorsYang YANG, Ivo MORAVEC
Life of this patent
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Abstract
A method may include the following steps: acquiring, from a camera, an image frame; acquiring, from an inertial sensor, a sensor data sequence; tracking a first pose of an object in a real scene based at least on the image frame; deriving a sensor pose of an inertial sensor based on the sensor data sequence; determining whether the first pose is lost; retrieving from one or more memories, or generating from a 3D model stored in one or more memories, a training template corresponding to a view that is based on the sensor pose obtained on or after the first pose is lost; and deriving a second pose of the object using the training template.
Claims20
A non-transitory computer readable medium that embodies instructions that cause one or more processors to perform a method comprising:
- (A) acquiring, from a camera, an image frame;
- (B) acquiring, from an inertial sensor, a sensor data sequence;
- (C) tracking a first pose of an object in a real scene based at least on the image frame;
- (D) deriving a sensor pose of an inertial sensor based on the sensor data sequence;
- (E) determining whether the first pose is lost;
- (F) retrieving from one or more memories, or generating from a 3D model stored in one or more memories, a training template corresponding to a view that is based on the sensor pose obtained on or after the first pose is lost;
- and
- (G) deriving a second pose of the object using the training template.
A method comprising:
- (A) acquiring, from a camera, an image frame;
- (B) acquiring, from an inertial sensor, a sensor data sequence;
- (C) tracking a first pose of an object in a real scene based at least on the image frame;
- (D) deriving a sensor pose of an inertial sensor based on the sensor data sequence;
- (E) determining whether the first pose is lost;
- (F) retrieving from one or more memories, or generating from a 3D model stored in one or more memories, a training template corresponding to a view that is based on the sensor pose obtained on or after the first pose is lost;
- and
- (G) deriving a second pose of the object using the training template.
A head-mounted display device comprising:
- a camera;
- an inertial sensor fixed or adjustably fixed with respect to the camera with a spatial relationship;
- and
- a processor configured for:
- (A) acquiring, from the camera, an image frame;
- (B) acquiring, from the inertial sensor, a sensor data sequence;
- (C) tracking a first pose of an object in a real scene based at least on the image frame;
- (D) deriving a sensor pose of an inertial sensor based on the sensor data sequence;
- (E) determining whether the first pose is lost;
- (F) retrieving from one or more memories, or generating from a 3D model stored in one or more memories, a training template corresponding to a view that is based on the sensor pose obtained on or after the first pose is lost;
- and
- (G) deriving a second pose of the object using the training template.
Dependencies are inferred from the claim text.