Patent ID: 9269003
Filing Date: 2016-02-23
CPC Classification: G06K,G06T

Claim Text:
1. A processor-implemented method comprising: obtaining a plurality of live images, the plurality of live images comprising a tracked object; determining, for a live image in the plurality of live images, a camera pose relative to the tracked object, wherein the camera pose is determined using Simultaneous Localization and Mapping (SLAM) based techniques; rendering, based on the camera pose, a plurality of synthetic images without the tracked object, each synthetic image obtained from a distinct keyframe in a 3D model; comparing the live image and at least one of the plurality of synthetic images to determine a first mask region associated with the tracked object; computing optical flow magnitudes for a plurality of pixels in the first mask region associated with the tracked object relative to a subset of synthetic images in the plurality of synthetic images; determining, for each of the plurality of pixels in a first mask corresponding to the first mask region, a corresponding pixel in each synthetic image of the subset of synthetic images based, in part, on the optical flow magnitude; and determining replacement pixels for the plurality of pixels in the first mask, each replacement pixel corresponding to a distinct pixel in the first mask, wherein each replacement pixel is determined as a function of the corresponding pixels in the subset of synthetic images that correspond to the pixel in the first mask.