US Patent Application 18343591. OBJECT SEGMENTATION AND FEATURE TRACKING simplified abstract

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OBJECT SEGMENTATION AND FEATURE TRACKING

Organization Name

QUALCOMM Incorporated


Inventor(s)

Abhijeet Bisain of San Diego CA (US)


Gerhard Reitmayr of Del Mar CA (US)


OBJECT SEGMENTATION AND FEATURE TRACKING - A simplified explanation of the abstract

  • This abstract for appeared for US patent application number 18343591 Titled 'OBJECT SEGMENTATION AND FEATURE TRACKING'

Simplified Explanation

This abstract describes a method for improving feature tracking in images by masking out dynamic objects. The method involves receiving an image captured by a device, which shows both a static environment and a dynamic object. The device then identifies the portion of the image that includes the dynamic object, such as by detecting a bounding box or specific pixels corresponding to the object. The device generates a masked image by masking out this portion. Features in the masked image are identified and used for feature tracking in other images of the environment. This feature tracking can be applied to tasks such as mapping, localization, and relocation.


Original Abstract Submitted

Examples are described for processing images to mask dynamic objects out of images to improve feature tracking between images. A device receives an image of an environment captured by an image sensor. The image depicts at least a static portion of the environment and a dynamic object in the environment. The device identifies a portion of the image that includes a depiction of the dynamic object. For example, the device can detect a bounding box around the dynamic object, or can detect which pixels in the image correspond to the dynamic object. The device generates a masked image at least by masking the portion of the image. The device identifies features in the masked image, and uses the features from the masked image for feature tracking from other images of the environment, masked or otherwise. The device can use this feature tracking for mapping, localization, and/or relocation.

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