US 12,217,454 B2
Method and device with sensing data processing
Donghoon Sagong, Suwon-si (KR); and Hojin Ju, Suwon-si (KR)
Assigned to Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed by SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
Filed on Mar. 18, 2022, as Appl. No. 17/698,266.
Claims priority of application No. 10-2021-0141142 (KR), filed on Oct. 21, 2021.
Prior Publication US 2023/0128392 A1, Apr. 27, 2023
Int. Cl. G06K 9/00 (2022.01); G06T 7/73 (2017.01); G06V 10/46 (2022.01); G06V 10/764 (2022.01); H04N 13/239 (2018.01); H04N 13/271 (2018.01)
CPC G06T 7/73 (2017.01) [G06V 10/46 (2022.01); G06V 10/764 (2022.01); H04N 13/239 (2018.05); H04N 13/271 (2018.05)] 21 Claims
OG exemplary drawing
 
10. A processor-implemented sensing data processing method, the method, comprising:
tracking keypoints within a full observable range of a sensing data processing device based on sensing data collected from a previous frame and sensing data collected from a current frame by a reference sensor by capturing a scene with a field of view (FOV);
refining the tracked keypoints; and
managing a new keypoint together with the tracked keypoints in response to a detection of the new keypoint,
wherein the full observable range is determined based on a combined FOV of the reference sensor and a second sensor, and
wherein the tracking comprises updating which region the tracked keypoints belong to within the full observable range based on changed positions of the tracked keypoints.