Invention Grant
US09256788B2 Method for initializing and solving the local geometry or surface normals of surfels using images in a parallelizable architecture
有权
使用可并行化架构中的图像初始化和求解冲浪的局部几何或表面法线的方法
- Patent Title: Method for initializing and solving the local geometry or surface normals of surfels using images in a parallelizable architecture
- Patent Title (中): 使用可并行化架构中的图像初始化和求解冲浪的局部几何或表面法线的方法
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Application No.: US13789577Application Date: 2013-03-07
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Publication No.: US09256788B2Publication Date: 2016-02-09
- Inventor: Mahesh Ramachandran , Daniel Wagner , Murali Ramaswamy Chari
- Applicant: QUALCOMM Incorporated
- Applicant Address: US CA San Diego
- Assignee: QUALCOMM INCORPORATED
- Current Assignee: QUALCOMM INCORPORATED
- Current Assignee Address: US CA San Diego
- Agency: Kilpatrick Townsend & Stockton LLP
- Main IPC: G06K9/00
- IPC: G06K9/00 ; G06K9/36 ; G06K9/64 ; G06K9/32 ; G06T15/00 ; G06T17/20 ; G06T7/20
Abstract:
A system and method is described herein for solving for surface normals of objects in the scene observed in a video stream. The system and method may include sampling the video stream to generate a set of keyframes; generating hypothesis surface normals for a set of mappoints in each of the keyframes; warping patches of corresponding mappoints in a first keyframe to the viewpoint of a second keyframe with a warping matrix computed from each of the hypothesis surface normals; scoring warping errors between each hypothesis surface normal in the two keyframes; and discarding hypothesis surface normals with high warping errors between the first and second keyframes.
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