Framework for reference-free drift-corrected planar tracking using Lucas-Kanade optical flow
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United States of America Patent
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Apr 21, 2015
Grant Date -
Mar 28, 2013
app pub date -
Sep 28, 2011
filing date -
Sep 28, 2011
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Abstract
Reference free tracking of position by a mobile platform is performed using images of a planar surface. Tracking is performed optical flow techniques, such as pyramidal Lucas-Kanade optical flow with multiple levels of resolution, where displacement is determined with pixel accuracy at lower resolutions and at sub-pixel accuracy at full resolution, which improves computation time for real time performance. Periodic drift correction is performed by matching features between a current frame and a keyframe. The keyframe may be replaced with the drift corrected current image.
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