Edge-based three-dimensional tracking and registration method and apparatus for augmented reality, and storage medium
AssigneeBeijing Baidu Netcom Science Technology Co., Ltd.
InventorsSili CHEN, Zhaoliang LIU
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Abstract
The present disclosure discloses an edge-based three-dimensional tracking and registration method and apparatus for augmented reality, and a storage medium. The method includes: obtaining an initial pose of a three-dimensional object in an image; extracting edgelet features of a contour of the three-dimensional object based on the initial pose; dividing the edgelet features into groups, and performing searching on the image to find a matching point corresponding to respective edgelet feature in each group; and calculating a pose of the three-dimensional object based on matching points found in the groups.
Claims18
An edge-based three-dimensional tracking and registration method for augmented reality, comprising:
- obtaining an initial pose of a three-dimensional object in an image;
- extracting edgelet features of a contour of the three-dimensional object based on the initial pose;
- dividing the edgelet features into groups, and performing searching on the image to find a matching point corresponding to respective edgelet feature in each group;
- and
- calculating a pose of the three-dimensional object based on matching points found in the groups.
An edge-based three-dimensional tracking and registration apparatus for augmented reality, comprising:
- one or more processors;
- a memory storing instructions executable by the one or more processors;
- wherein the one or more processors are configured to:
- obtain an initial pose of a three-dimensional object in an image;
- extract edgelet features of a contour of the three-dimensional object based on the initial pose;
- divide the edgelet features into groups;
- perform searching on the image to find a matching point corresponding to respective edgelet feature in each group;
- and
- calculate a pose of the three-dimensional object based on matching points found in the groups.
A non-transitory computer-readable storage medium having a computer instruction stored thereon, wherein the computer instruction is configured to make a computer implement an edge-based three-dimensional tracking and registration method for augmented reality, and the method comprises:
- obtaining an initial pose of a three-dimensional object in an image;
- extracting edgelet features of a contour of the three-dimensional object based on the initial pose;
- dividing the edgelet features into groups, and performing searching on the image to find a matching point corresponding to respective edgelet feature in each group;
- and
- calculating a pose of the three-dimensional object based on matching points found in the groups.
Dependencies are inferred from the claim text.