Speed-up template matching using peripheral information
AssigneeQUALCOMM Incorporated
InventorsHui Chao, Raghuraman Krishnamoorthi, Faraz Mohammad Mirzaei
Life of this patent
Estimating the term…
Abstract
A method for template matching is described. In one implementation, an image including a target object is captured by a camera. A pose of the camera is estimated based, at least in part, on peripheral information from the image. Pre-selecting is performed on a set of pose templates by matching the pose of the camera to poses associated with pose templates to identify a set of matching pose templates. The template matching for the target object is then performed using the set of matching pose templates.
Claims24
A method for estimating camera pose, the method comprising:
- obtaining an image of a location captured via a camera, wherein the image includes a target object and peripheral information;
- calculating a pose of the camera with respect to the target object based at least in part on the peripheral information;
- accessing a template matching system, wherein the template matching system comprises a plurality of templates for each object of a plurality of objects, and wherein each template is associated with a template pose;
- pre-selecting templates of the plurality of templates where the pose of the camera matches the template pose to identify a set of matching pose templates;
- and
- processing the set of matching pose templates to identify a template match with the target object.
A mobile device for accelerated template matching using peripheral information comprising:
- a processor;
- a camera coupled to the processor;
- and
- a memory coupled to the processor, wherein the memory comprises instructions that cause the processor to:
- obtain an image of a location captured via the camera, wherein the image includes a target object and at least a portion of the peripheral information;
- calculate a pose of the camera with respect to the target object based at least in part on the peripheral information;
- access a template matching system, wherein the template matching system comprises a plurality of templates for each object of a plurality of objects, and wherein each template is associated with a template pose;
- pre-select templates of the plurality of templates where the pose of the camera matches the template pose to identify a set of matching pose templates;
- and
- process the set of matching pose templates to identify a template match with the target object.
A non-transitory computer-readable storage device comprising instructions that, when executed by a processor, cause a system to perform a method of template matching, the method comprising:
- obtaining an image of a location captured via a camera, wherein the image includes a target object and peripheral information;
- calculating a pose of the camera with respect to the target object based at least in part on the peripheral information;
- accessing a template matching system, wherein the template matching system comprises a plurality of templates for each object of a plurality of objects, and wherein each template is associated with a template pose;
- pre-selecting templates of the plurality of templates where the pose of the camera matches the template pose to identify a set of matching pose templates;
- and
- processing the set of matching pose templates to identify a template match with the target object.
A mobile device for accelerated template matching using peripheral information comprising:
- means for obtaining an image of a location captured via a camera, wherein the image includes a target object and peripheral information;
- means for calculating a pose of the camera with respect to the target object based at least in part on the peripheral information;
- means for accessing a template matching system, wherein the template matching system comprises a plurality of templates for each object of a plurality of objects, and wherein each template is associated with a template pose;
- means for pre-selecting templates of the plurality of templates where the pose of the camera matches the template pose to identify a set of matching pose templates;
- and
- means for processing the set of matching pose templates to identify a template match with the target object.
Dependencies are inferred from the claim text.