Patent Document ID: 20140355832
Application ID: 14361651
Patent Status: 0

Claim One:
1. A method for following an object in a sequence of at least two images, including previous and current images, said method comprising: forming a first set of points (E p ), and respectively a second set (E c ), by extracting characteristic points of the object in the previous and current images, respectively, calculating a local descriptor for each of the characteristic points extracted, quantifying the dissimilarity between the descriptor of each point in the first set of points and the descriptor of each point in the second set of points, forming pairs of matched points (C(i, j)) for each point in the first set of points according to the dissimilarities between descriptors thus quantified, each pair of matched points associating a point in the first set of points with a point in the second set of points, estimating the parameters of a movement model of the object between the two images from pairs of matched points thus formed, wherein estimating the parameters of the movement model is preceded by selecting the pairs of matched points used to estimate the parameters of the movement model, during which said pairs of matched points are solely selected from those that relate to points in the first set of points that are singular, each point in the first set of points being a singular point, when a smallest dissimilarity between the descriptor of a point in the first set of points and the descriptor of a point in the second set of points is less than a predetermined threshold (TH1), the points in the second set of points that relate to the point in the first set of points being ordered by increasing dissimilarity in order to form a list (P c i ) of ordered points, and there exists an index K, of the this-list such that the dissimilarity (DIS└D(P p (i),D(P c (j))┘) is less than a predetermined value (TH2) and the index K i is such that the difference between the dissimilarity between the point (P p (i)) in the first set of points and the point (P c i (K i )) in the second set points that relates to the index K i , and the dissimilarity between the point in the first set of points and the point (P c (K+1)) in the second set of points that relates to the index that follows the index K i , is above a predetermined threshold (TH3).