Three-dimensional object tracking method and device and electronic equipment
A technology of three-dimensional objects and three-dimensional space, which is applied in the field of image processing and computer vision, can solve the problems of insufficient texture, difficulty in tracking, small area, etc., and achieve the effect of improving accuracy and versatility
Active Publication Date: 2020-07-28
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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[0004] The three-dimensional object tracking method, device and electronic equipment proposed in this application are used to solve the problem that in related technologies, due to the small area of the actual object in the scene image, or when the texture is not rich, sufficient features cannot be proposed from the actual object itself. making it difficult to track down the problem
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[0017] Exemplary embodiments of the present application are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present application to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
[0018] The embodiment of the present application aims at the problem in related technologies that when the area of the actual object in the scene image is small or the texture is not rich, it is impossible to provide enough features from the actual object itself, which makes it difficult to track, and proposes a three-dimensional object tracking method.
[0019] I...
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The invention provides a three-dimensional object tracking method and device and electronic equipment, and belongs to the technical field of computer vision. The method comprises the following steps:when the scene map contains the reference data of the target object, determining a first two-dimensional feature contained in the target image and matched with the reference two-dimensional feature inthe scene map and a first 6DoF (SixDegree of Freedom) pose of the target object in the target image; if the target image is the key frame image, performing three-dimensional object pose estimation onthe target image, and determining a second 6DoF pose of the target object in the target image; and if the tracking deviation of the target image determined according to the first 6DoF pose and the second 6DoF pose is greater than or equal to a first threshold, replacing existing reference data in the scene map with the matching relationship between the second two-dimensional feature and the three-dimensional space point and the second 6DoF pose. Therefore, through the three-dimensional object tracking method, the accuracy and universality of moving object tracking are improved.
Description
technical field [0001] The present application relates to the technical field of image processing, in particular to the technical field of computer vision, and proposes a three-dimensional object tracking method, device and electronic equipment. Background technique [0002] Three-dimensional object tracking technology refers to the technology of obtaining the 6DoF (Six Degrees of Freedom, six degrees of freedom) pose of the actual object in each frame according to the characteristics of the actual object itself in the image. [0003] In related technologies, the 3D object tracking technology calculates the 6DoF pose of the actual object according to the 3D space points in the 3D model and the corresponding 2D coordinates on the 2D image. However, in the application, there are often cases where some actual objects in the scene image have a small area, or the texture is not rich, resulting in the inability to extract enough features from the actual object itself, making track...
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IPC IPC(8): G06T7/246G06K9/62
CPCG06T7/246G06T2207/10021G06F18/22
Inventor 刘赵梁陈思利
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD