US 9,317,928 B2 · Detecting and tracking point features with primary colors

Abstract

A feature tracking technique for detecting and tracking feature points with primary colors. An energy value may be computed for each color channel of a feature. If the energy of all the channels is above a threshold, then the feature may be tracked according to a feature tracking method using all channels. Otherwise, if the energy of all of the channels is below the threshold, then the feature is not tracked. If the energy of at least one (but not all) of the channels is below the threshold, then the feature is considered to have primary color, and the feature may be tracked according to the feature tracking method using only the one or more channels with energy above the threshold. The feature tracking techniques may, for example, be used to establish point trajectories in an image sequence for various Structure from Motion (SFM) techniques.

Claims20

Dependent claims

A method implemented by one or more computing devices to improve feature tracking through an image sequence, the method comprising:

tracking one or more features in the image sequence including a plurality of frames by the one or more computing devices, the tracking including detecting the one or more features in the image sequence by the one or more computing devices, the detecting including, for each feature:
computing an energy value for one or more color channels of the feature in at least one frame of the image sequence by the one or more computing devices;
and
comparing the computed energy value for the one or more color channels to a threshold by the one or more computing devices;
and
for at least one detected feature, tracking the respective feature by the one or more computing devices according to at least one color channel for which the respective energy value is determined to be above the threshold such that at least one other color channel for which the respective energy value is determined to be below the threshold is not used in said tracking by the one or more computing devices.

3 more elements

A non-transitory computer-readable storage medium storing program instructions, the program instructions are computer-executable by one or more computing devices to perform feature tracking of one or more features within an image sequence for use in a structure from motion technique, the feature tracking operations comprising:

tracking the one or more features in the image sequence including a plurality of frames, the tracking including detecting the one or more features in the image sequence, the detecting including, for each feature:
computing an energy value for one or more color channels of the feature in at least one frame of the image sequence;
and
comparing the computed energy value for the one or more color channels to a threshold;
and
for at least one detected feature, tracking the respective feature according to at least one color channel for which the respective energy value is determined to be above the threshold such that at least one other color channel for which the respective energy value is determined to be below the threshold is not used in said tracking.

3 more elements

Dependencies are inferred from the claim text.

Detecting and tracking point features with primary colors

Life of this patent

Detecting and tracking point features with primary colors

Life of this patent

Abstract

Claims20