Abstract: A method of using both object features and scene features to track an object in a scene is provided. In one embodiment, the scene motion is compared with the object motion and if the motions differ greater than a threshold, then the pose from object tracker is used; otherwise, the pose from scene tracker is used. In another embodiment, the pose of an object is tracked by both scene tracker and object tracker and these poses are compared. If these comparison results in a difference greater than a threshold, the pose from object tracker is used; otherwise, the pose from scene tracker is used.

Abstract: A method of determining and displaying movement of an object in an environment using a moving camera includes identifying later environment features located in the environment in a later image, earlier environment features located in the environment in an earlier image, and earlier object features located on the object in the earlier image. The method further includes estimating object features in the later image using the earlier object features and a determined camera movement. The method further includes locating, in the later image, matched object features that are actual object features in the later image at a same location as the estimated object features. The method further includes determining that the object has moved between the earlier image and the later image if a number of matched object features does not exceed a threshold.

Abstract: A method of using both object features and scene features to track an object in a scene is provided. In one embodiment, the scene motion is compared with the object motion and if the motions differ greater than a threshold, then the pose from object tracker is used; otherwise, the pose from scene tracker is used. In another embodiment, the pose of an object is tracked by both scene tracker and object tracker and these poses are compared. If these comparison results in a difference greater than a threshold, the pose from object tracker is used; otherwise, the pose from scene tracker is used.

Abstract: A method of determining and displaying movement of an object in an environment using a moving camera includes identifying later environment features located in the environment in a later image, earlier environment features located in the environment in an earlier image, and earlier object features located on the object in the earlier image. The method further includes estimating object features in the later image using the earlier object features and a determined camera movement. The method further includes locating, in the later image, matched object features that are actual object features in the later image at a same location as the estimated object features. The method further includes determining that the object has moved between the earlier image and the later image if a number of matched object features does not exceed a threshold.

Abstract: A method of determining and displaying movement of an object in an environment using a moving camera includes identifying later environment features located in the environment in a later image, earlier environment features located in the environment in an earlier image, and earlier object features located on the object in the earlier image. The method further includes estimating object features in the later image using the earlier object features and a determined camera movement. The method further includes locating, in the later image, matched object features that are actual object features in the later image at a same location as the estimated object features. The method further includes determining that the object has moved between the earlier image and the later image if a number of matched object features does not exceed a threshold.

Abstract: A method of determining and displaying movement of an object in an environment using a moving camera includes identifying later environment features located in the environment in a later image, earlier environment features located in the environment in an earlier image, and earlier object features located on the object in the earlier image. The method further includes estimating object features in the later image using the earlier object features and a determined camera movement. The method further includes locating, in the later image, matched object features that are actual object features in the later image at a same location as the estimated object features. The method further includes determining that the object has moved between the earlier image and the later image if a number of matched object features does not exceed a threshold.

Abstract: A method includes acquiring, from a camera, an image frame including a representation of an object, and retrieving from a memory, data containing a template of a first pose of the object. A processor compares the first template to the image frame. A plurality of candidate locations in the image frame having a correlation with the template exceeding a predetermined threshold is determined. Edge registration on at least one candidate location of the plurality of candidate locations is performed to derive a refined pose of the object. Based at least in part on the performed edge registration, an initial pose of the object is determined, and a display image is output for display on a display device. The position at which the display image is displayed and/or the content of the display image is based at least in part on the determined initial pose of the object.

Abstract: A method includes acquiring, from a camera, an image frame including a representation of an object, and retrieving from a memory, data containing a template of a first pose of the object. A processor compares the first template to the image frame. A plurality of candidate locations in the image frame having a correlation with the template exceeding a predetermined threshold is determined. Edge registration on at least one candidate location of the plurality of candidate locations is performed to derive a refined pose of the object. Based at least in part on the performed edge registration, an initial pose of the object is determined, and a display image is output for display on a display device. The position at which the display image is displayed and/or the content of the display image is based at least in part on the determined initial pose of the object.