SYSTEMS AND METHODS FOR MOTION BLUR COMPENSATION FOR FEATURE TRACKING

• Main Authors: SAINI, Vinod Kumar, NANDIPATI, Srujan Babu, GORUR SHESHAGIRI, Pushkar, GUPTE, Ajit Deepak, CHOUDHURI, Chiranjib
• Format: Patent
• Language: English
• Published: 22.08.2024
• Subjects: CALCULATING; COMPUTING; COUNTING; ELECTRIC COMMUNICATION TECHNIQUE; ELECTRICITY; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS; PICTORIAL COMMUNICATION, e.g. TELEVISION

Imaging systems and techniques are described. A system receives an image of an environment captured using an image sensor according to an image capture setting, and receives motion data captured using a motion sensor. The system determines a weight associated with at least one of a plurality of features of the environment in the image based on an estimated motion blur level for the at least one of the features of the environment in the image. The estimated motion blur level is based on the motion data and the image capture setting. The system tracks the features of the environment across a plurality of images (that includes the received image) according to respective weights (that include the determined weight) for the features of the environment across the plurality of images. The system can use the tracked features for mapping the environment and/or determining the pose of the system.