Tracking apparatus and method
AssigneeHTC Corporation
InventorChih-An TSAO
Life of this patent
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Abstract
A tracking apparatus and method are provided. The apparatus calculates tracking errors under hypothetical structured light intensities at a tracking time point based on continuous images and past structured light intensities corresponding to a time interval, wherein the tracking time point is later than the time interval. The apparatus determines an optimum structured light intensity based on a minimum error among the tracking errors. The apparatus generates a control signal to control a light emitting unit to emit structured light with the optimum structured light intensity at the tracking time point. The apparatus obtains a tracking image captured at the tracking time point from a camera. The apparatus tracks a pose of a first object based on the tracking image.
Claims20
A tracking apparatus, comprising:
- a first camera, configured to capture a plurality of first continuous images in an environment over a time interval;
- a light emitting unit, configured to emit structured light to the environment;
- and
- a processor, coupled to the first camera and the light emitting unit, and configured to execute the following operations:
- calculating a plurality of tracking errors under a plurality of hypothetical structured light intensities at a tracking time point based on the first continuous images and a plurality of past structured light intensities corresponding to the time interval, wherein the tracking time point is later than the time interval;
- determining an optimum structured light intensity based on a minimum error among the tracking errors;
- generating a first control signal to control the light emitting unit to emit the structured light with the optimum structured light intensity at the tracking time point;
- obtaining a tracking image captured at the tracking time point from the first camera;
- and
- tracking a pose of a first object based on the tracking image.
A tracking method, being adapted for use in an electronic apparatus, wherein the tracking method comprises the following steps:
- capturing a plurality of first continuous images in an environment over a time interval;
- calculating a plurality of tracking errors under a plurality of hypothetical structured light intensities at a tracking time point based on the first continuous images and a plurality of past structured light intensities corresponding to the time interval, wherein the tracking time point is later than the time interval;
- determining an optimum structured light intensity based on a minimum error among the tracking errors;
- emitting structured light with the optimum structured light intensity at the tracking time point;
- and
- tracking a pose of a first object based on a tracking image captured at the tracking time point.
Dependencies are inferred from the claim text.