Method for initializing and solving the local geometry or surface normals of surfels using images in a parallelizable architecture
US9256788B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 7, 2013 |
| Grant date | Feb 9, 2016 |
| Priority date | — |
| Expiry date | Dec 28, 2033 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/10016
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.