US Patent 11170224 Keyframe-based object scanning and tracking

Described herein are methods and systems for keyframe-based object scanning and tracking. A sensor device captures images of objects in a scene. For each image, a computing device labels each of at least a plurality of pixels in the image, tracks at least one region of the labeled image to determine an estimate of a current pose of at least one object, validates the estimate of the current pose of the at least one object, selects the labeled image as a keyframe based upon validation of the estimate of the current pose, and updates a volumetric model comprising the at least one object using the keyframe. The computing device generates a final 3D model of the at least one object based upon the updated volumetric model.