Patent ID: 7616807
Filing Date: 2009-11-10
Classification: G06T

Abstract:
1. A computer implemented method of tracking a pose of a moving camera, the method performed by the computer comprising the steps of: receiving a first received digitized image from a camera, said image comprising a plurality of intensities corresponding to a domain of points on a 2-dimensional grid, and including one or more landmarks for tracking; receiving a sequence of digitized images from said camera, each image comprising a plurality of intensities corresponding to a domain of points on a 2-dimensional grid; recording, for each of said sequence of digitized images, the pose and 2D correspondences of each of said landmarks; reconstructing a location and appearance of a 2-dimensional texture patch from the 2D correspondences of the landmarks of said sequence of digitized images by triangulation and optimization; computing back-projection errors by comparing said reconstructed texture patch with said first received image; reconstructing said location and appearance of said 2-dimensional texture patch from the 2D correspondences of the landmarks of said sequence of digitized images by triangulation and optimization after eliminating those landmarks with large back-projection errors searching for a best match of each landmark correspondence in said reconstructed texture patch, wherein a search range is determined by a maximum back-projection error, wherein said best match is found by minimizing a sum of square differences wherein n p , is a size of said texture patch for each landmark, i c and j c are feature point coordinates, I norm is the normalized intensity of a point defined by wherein I is a intensity before normalization, and I determining a likelihood score S wherein n