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US 9,852,513 B2Granted
Tracking regions of interest across video frames with corresponding depth maps
AssigneeIntel Corporation
InventorsYi Wu, Oscar Nestares
Life of this patent
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Abstract
Techniques related to tracking regions of interest across video frames with corresponding depth maps are discussed. Such techniques may include motion tracking feature points of a region of interest, filtering the tracked feature points, determining a center of the region of interest, verifying a depth consistency of the center, and, if the number of tracked feature points falls below a threshold or the center fails depth consistency for a current frame, re-initializing the region of interest in a prior frame.
Claims25
A computer implemented method comprising:
- determining an effective center of a tracked region of interest for a current frame of a plurality of video frames based on a selected subset of feature points corresponding to the tracked region of interest, wherein the plurality of video frames comprise color video having depth data;
- accepting or rejecting the effective center of the tracked region of interest for the current frame based on a comparison of a first depth value corresponding to the effective center of the tracked region of interest for the current frame to a second depth value corresponding to a second effective center of the tracked region of interest for a previous frame, wherein the first and second depth values comprise at least one of disparity values or depth distance values;
- and, when the effective center of the tracked region of interest for the current frame is rejected:
- generating a second tracked region of interest for the previous frame based on the second effective center of the tracked region of interest for the previous frame;
- determining second feature points corresponding to the second region of interest for the previous frame;
- and
- performing motion tracking of the second feature points to provide third feature points corresponding to the second tracked region of interest for the current frame.
4 more elements
A system comprising:
- a memory configured to store a plurality of video frames;
- and
- a processor coupled to the memory, the processor to determine an effective center of a tracked region of interest for a current frame of the plurality of video frames based on a selected subset of feature points corresponding to the tracked region of interest, to accept or reject the effective center of the tracked region of interest for the current frame based on a comparison of a first depth value corresponding to the effective center of the tracked region of interest for the current frame to a second depth value corresponding to a second effective center of the tracked region of interest for a previous frame, and, when the effective center of the tracked region of interest for the current frame is rejected, to generate a second tracked region of interest for the previous frame based on the second effective center of the tracked region of interest for the previous frame, to determine second feature points corresponding to the second region of interest for the previous frame, and to perform motion tracking of the second feature points to provide third feature points corresponding to the second tracked region of interest for the current frame.
At least one non-transitory machine readable medium comprising a plurality of instructions that, in response to being executed on a device, cause the device to provide region of interest tracking across video frames by:
- determining an effective center of a tracked region of interest for a current frame of the video frames based on a selected subset of feature points corresponding to the tracked region of interest;
- accepting or rejecting the effective center of the tracked region of interest for the current frame based on a comparison of a first depth value corresponding to the effective center of the tracked region of interest for the current frame to a second depth value corresponding to a second effective center of the tracked region of interest for a previous frame;
- and, when the effective center of the tracked region of interest for the current frame is rejected:
- generating a second tracked region of interest for the previous frame based on the second effective center of the tracked region of interest for the previous frame;
- determining second feature points corresponding to the second region of interest for the previous frame;
- and
- performing motion tracking of the second feature points to provide third feature points corresponding to the second tracked region of interest for the current frame.
4 more elements
Dependencies are inferred from the claim text.