System for dense registration of two-dimensional depth images
Abstract:
A system and method includes generation of a first map of first descriptors based on pixels of a first two-dimensional depth image, where a location of each first descriptor in the first map corresponds to a location of a respective pixel of a first two-dimensional depth image, generation of a second map of second descriptors based on pixels of the second two-dimensional depth image, where a location of each second descriptor in the second map corresponds to a location of a respective pixel of the second two-dimensional depth image, upsampling of the first map of descriptors using a first upsampling technique to generate an upsampled first map of descriptors, upsampling of the second map of descriptors using a second upsampling technique to generate an upsampled second map of descriptors, generation of a descriptor difference map based on differences between descriptors of the upsampled first map of descriptors and descriptors of the upsampled second map of descriptors, generation of a geodesic preservation map based on differences between geodesic distances between pairs of descriptors of the upsampled first map of descriptors and geodesic distances between corresponding pairs of descriptors of the upsampled second map of descriptors, and generation of a mapping between pixels of the first two-dimensional depth image and pixels of the second two-dimensional depth image based on the descriptor difference map and on the geodesic preservation map.
Public/Granted literature
Information query
Patent Agency Ranking
0/0