公开(公告)号：US09142022B2

公开(公告)日：2015-09-22

申请号：US14052118

申请日：2013-10-11

Applicant: INTEL CORPORATION

Inventor： Stanley K. Melax ,  Sterling G. Orsten ,  Leonid M. Keselman

IPC: G06K9/00 ,  G06T7/00 ,  G06T7/20

CPC classification number: G06T7/004 ,  G06K9/00201 ,  G06K9/00375 ,  G06T7/20 ,  G06T7/75 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/30196

Abstract: Embodiments relate to tracking a pose of a 3D object. In embodiments, a 3D computer model, consisting of geometry and joints, matching the 3D real-world object may be used for the tracking process. Processing the 3D model may be done using collision constraints generated from interpenetrating geometry detected in the 3D model, and by angular motion constraints generated by the joints describing the connections between pieces/segments/bones of the model. The depth data in its 3D (point cloud) form, supplied by a depth camera, may be used to create additional constraints on the surface of the 3D model thus limiting its motion. Combined together, all the constraints, using linear equation processing, may be satisfied to determine a plausible pose of the 3D model that matches the real-world pose of the object in front of the 3D camera.

Abstract translation: 实施例涉及跟踪3D对象的姿态。 在实施例中，与3D现实世界对象相匹配的由几何和关节组成的3D计算机模型可用于跟踪过程。 可以使用从3D模型中检测到的互穿几何生成的碰撞约束以及由描述模型的段/段/骨骼之间的连接的关节生成的角运动约束来完成3D模型的处理。 由深度摄像机提供的3D（点云）形式的深度数据可用于在3D模型的表面上创建额外的约束，从而限制其运动。 结合在一起，可以满足使用线性方程处理的所有约束，以确定与3D相机前面的对象的真实世界姿态相匹配的3D模型的合理姿态。