US 9,811,731 B2
Dynamic extension of map data for object detection and tracking
Wonwoo Lee, Vienna (AT); Qi Pan, Vienna (AT); Emilio Maggio, Vienna (AT); and Romain Tallonneau, Vienna (AT)
Assigned to QUALCOMM Incorporated, San Diego, CA (US)
Filed by QUALCOMM Incorporated, San Diego, CA (US)
Filed on Oct. 2, 2014, as Appl. No. 14/505,345.
Claims priority of provisional application 61/887,196, filed on Oct. 4, 2013.
Prior Publication US 2015/0098615 A1, Apr. 9, 2015
Int. Cl. G06K 9/00 (2006.01); G06K 9/46 (2006.01); G06K 9/62 (2006.01)
CPC G06K 9/00624 (2013.01) [G06K 9/00671 (2013.01); G06K 9/4604 (2013.01); G06K 9/6202 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A computer-implemented method of tracking a target object in an object recognition system, the method comprising:
acquiring a plurality of images with a camera;
acquiring offline map data of the target object; and
simultaneously tracking the target object and dynamically building online map data from the plurality of images, wherein tracking the target object includes selecting between the online map data and the offline map data for tracking the target object based at least in part on a size of the target object relative to an image in which the target object is being tracked.