OBJECT SEGMENTATION AND FEATURE TRACKING

• Main Authors: BISAIN, Abhijeet, REITMAYR, Gerhard
• Format: Patent
• Language: English; French; German
• Published: 25.10.2023
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

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.