Patent Document ID: 7929728
Application ID: 11295688
Patent Status: 1

Claim One:
1. A method for tracking an object using a plurality of images, each of which is separated by an interval of time, wherein the plurality of images comprises a first image and a second image, the method comprising: detecting from the first image at least one first feature associated with a first movable object; classifying the at least one first feature in accordance with its orientation to a first heading associated with the first movable object; assigning a first descriptor to the at least one first feature; detecting from the second image at least one second feature associated with a second movable object; classifying the at least one second feature in accordance with its orientation to a second heading associated with the second object, wherein the first and second headings are in the same direction; assigning a second descriptor to the at least one second feature; correlating the at least one first feature and the at least one second feature as a function of the first and second descriptors to align the first image with the second image; and matching a first patch of the first image to a local distribution of second patches comprising: computing for the first patch a first score that is associated with a spatial arrangement of the first patch; computing for the second patches respective second scores that are associated with respective spatial arrangements of the second patches; aggregating the second scores to form an aggregate score; forming a single score between the first patch and the aggregate score; and discarding the second patches when the single score fails to exceed a dynamic threshold, otherwise maintaining the second patches as a match.