Patent ID: 9430700
Filing Date: 2016-08-30
CPC Classification: G06K,G06T

Claim Text:
1. A method for optimizing a tracker system, the method comprising the steps of: acquiring a mesh data representing possible positions and orientations of an active marker on a tracked object, and a pose data representing possible poses of the tracked object under working conditions and at least one camera position and orientation, and establishing a coordinate system for the tracked object ( computing a visibility value of each node on a mesh from all camera viewports for every pose of the pose data and generating a visibility value list representing each node, wherein the visibility value represents how many times a node is visible from at least one camera viewport, considering all pose data, and wherein the visibility from any camera per pose is counted once ( selecting the node with highest visibility value as an active marker placement node ( removing nodes which are closer to the selected node than a non-maxima suppression threshold ( calculating the total number of markers (selected and placed so far) that are visible for each pose to inspect which poses exceed a K marker limit, and if a pose satisfies this condition, the pose should be excluded from the pose database; ( removing the pose(s) that meet the requirements of step testing if a predetermined percentage of all poses have the predetermined number of selected nodes ( repeating step ( projecting the final selected node positions on an image plane of each camera viewport for each pose, and adding a predetermined amount of noise into 2D marker images and using the 2D marker images for calculating the pose of the mesh with respect to the camera viewports using a tracker algorithm ( calculating pose error by comparing a plurality of estimated positions of the markers with a plurality of real positions of the markers and calculating pose coverage which is a percentage of poses that can be estimated with the tracker algorithm by comparing tracker algorithm results with the ground truth data ( recording and outputting the pose error and coverage results together with a number and positions of the active marker placement nodes ( testing if a new optimization parameter set, pose estimation parameter set, camera location set or 3D object mesh exist ( starting over with new data from the step ( selecting a camera location set, a 3D mesh data, a marker tree, an optimization parameter set and a pose estimation algorithm parameter set which satisfy at least one constraint wherein at least one constraint is selected from a group consisting of choosing a parameter set with the minimum pose error, a system with the minimum hidden poses and a system with the minimum marker number (