公开(公告)号：US20180350088A1

公开(公告)日：2018-12-06

申请号：US15994471

申请日：2018-05-31

Applicant: Google LLC

Inventor： Mingsong DOU ,  Sean Ryan FANELLO ,  Adarsh Prakash Murthy KOWDLE ,  Christoph RHEMANN ,  Sameh KHAMIS ,  Philip L. DAVIDSON ,  Shahram IZADI ,  Vladimir Tankovich

IPC: G06T7/593 ,  G06T15/08 ,  G06T17/20

CPC classification number: G06T7/75 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10028

Abstract: An electronic device estimates a pose of one or more subjects in an environment based on estimating a correspondence between a data volume containing a data mesh based on a current frame captured by a depth camera and a reference volume containing a plurality of fused prior data frames based on spectral embedding and performing bidirectional non-rigid matching between the reference volume and the current data frame to refine the correspondence so as to support location-based functionality. The electronic device predicts correspondences between the data volume and the reference volume based on spectral embedding. The correspondences provide constraints that accelerate the convergence between the data volume and the reference volume. By tracking changes between the current data mesh frame and the reference volume, the electronic device avoids tracking failures that can occur when relying solely on a previous data mesh frame.