公开(公告)号：US08830236B2

公开(公告)日：2014-09-09

申请号：US13096488

申请日：2011-04-28

申请人： Marcel Germann ,  Stephan Wuermlin Stadler ,  Richard Keiser ,  Remo Ziegler ,  Christoph Niederberger ,  Alexander Hornung ,  Marcus Gross

发明人： Marcel Germann ,  Stephan Wuermlin Stadler ,  Richard Keiser ,  Remo Ziegler ,  Christoph Niederberger ,  Alexander Hornung ,  Marcus Gross

IPC分类号： G06T17/00

CPC分类号： G06T15/205 ,  G06K9/00201 ,  G06T7/74 ,  G06T2207/10021 ,  G06T2207/30196

摘要： A computer-implemented method for estimating a pose of an articulated object model that is a computer based 3D model of a real world object observed by one or more source cameras, including the steps of obtaining a source image from a video stream; processing the source image to extract a source image segment maintaining, in a database, a set of reference silhouettes, each being associated with an articulated object model and a corresponding reference pose; comparing the source image segment to the reference silhouettes and selecting reference silhouettes by taking into account, for each reference silhouette, a matching error that indicates how closely the reference silhouette matches the source image segment retrieving the corresponding reference poses of the articulated object models; and computing an estimate of the pose of the articulated object model from the reference poses of the selected reference silhouettes.

摘要翻译： 一种用于估计作为由一个或多个源摄像机观测到的真实世界对象的基于计算机的3D模型的关节对象模型的姿态的计算机实现的方法，包括以下步骤：从视频流获取源图像; 处理源图像以提取源图像段，其在数据库中保持一组参考轮廓，每个参考轮廓与铰接对象模型和相应的参考姿势相关联; 将源图像段与参考轮廓进行比较，并且通过考虑每个参考轮廓来选择参考轮廓，该匹配误差指示参考轮廓与检索相关联的对象模型的相应参考姿势的源图像段匹配的距离; 以及从所选择的参考轮廓的参考姿势计算所述铰接对象模型的姿态的估计。

公开(公告)号：US20110267344A1

公开(公告)日：2011-11-03

申请号：US13096488

申请日：2011-04-28

申请人： Marcel Germann ,  Stephan Wuermlin Stadler ,  Richard Keiser ,  Remo Ziegler ,  Christoph Niederberger ,  Alexander Hornung ,  Marcus Gross

发明人： Marcel Germann ,  Stephan Wuermlin Stadler ,  Richard Keiser ,  Remo Ziegler ,  Christoph Niederberger ,  Alexander Hornung ,  Marcus Gross

IPC分类号： G06K9/00 ,  G06T17/00

CPC分类号： G06T15/205 ,  G06K9/00201 ,  G06T7/74 ,  G06T2207/10021 ,  G06T2207/30196

摘要： A computer-implemented method for estimating a pose of an articulated object model (4), wherein the articulated object model (4) is a computer based 3D model (1) of a real world object (14) observed by one or more source cameras (9), and wherein the pose of the articulated object model (4) is defined by the spatial location of joints (2) of the articulated object model (4), comprises the steps of obtaining a source image (10) from a video stream; processing the source image (10) to extract a source image segment (13); maintaining, in a database, a set of reference silhouettes, each being associated with an articulated object model (4) and a corresponding reference pose; comparing the source image segment (13) to the reference silhouettes and selecting reference silhouettes by taking into account, for each reference silhouette, a matching error that indicates how closely the reference silhouette matches the source image segment (13) and/or a coherence error that indicates how much the reference pose is consistent with the pose of the same real world object (14) as estimated from a preceding source image (10); retrieving the corresponding reference poses of the articulated object models (4); and computing an estimate of the pose of the articulated object model (4) from the reference poses of the selected reference silhouettes.

摘要翻译： 一种用于估计铰接对象模型（4）的姿态的计算机实现的方法，其中所述铰接对象模型（4）是由一个或多个源摄像机观察到的真实世界对象（14）的基于计算机的3D模型（1） （9），并且其中所述铰接对象模型（4）的姿态由所述铰接对象模型（4）的关节（2）的空间位置定义，包括以下步骤：从视频获得源图像（10） 流; 处理源图像（10）以提取源图像段（13）; 在数据库中维护一组参考轮廓，每个参考轮廓与铰接对象模型（4）和相应的参考姿势相关联; 将源图像段（13）与参考轮廓进行比较，并且通过考虑每个参考轮廓来选择参考轮廓，该匹配误差指示参考轮廓与源图像段（13）的匹配和/或相干误差 其指示参考姿势与从先前的源图像（10）估计的相同的真实世界对象（14）的姿态一致; 检索关节对象模型（4）的相应参考姿势; 以及从所选择的参考轮廓的参考姿势中计算所述铰接对象模型（4）的姿态的估计。