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    • 3. 发明授权
    • Silhouette-based pose estimation
    • 基于轮廓的姿态估计
    • US09117113B2
    • 2015-08-25
    • US14117593
    • 2012-05-08
    • Tiberiu PopaMarcel GermannRichard KeiserMarkus GrossRemo Ziegler
    • Tiberiu PopaMarcel GermannRichard KeiserMarkus GrossRemo Ziegler
    • G06K9/00G06T7/00
    • G06K9/00342G06K9/00724G06T7/73G06T2207/10021G06T2207/30196G06T2207/30228
    • Estimating a pose of an articulated 3D object model (4) by a computer is done by •obtaining a sequence of source images (10) and therefrom corresponding source image segments (13) with objects (14) separated from the image background; •matching such a sequence (51) with sequences (52) of reference silhouettes (13′), determining one or more selected sequences of reference silhouettes (13′) forming a best match; •for each of these selected sequences of reference silhouettes (13′), retrieving a reference pose that is associated with one of the reference silhouettes (13′); and •computing an estimate of the pose of the articulated object model (4) from the retrieved reference pose or poses. The result of these steps is an initial pose estimate, which then can be used in further steps, for example, for maintaining local consistency between pose estimates from consecutive frames, and global consistency over a longer sequence of frames.
    • 通过计算机估计关节式3D对象模型(4)的姿态是通过以下步骤完成的:通过从图像背景分离的对象(14)获得源图像序列(10)和源自相应源图像片段(13)的序列; •将这样的序列(51)与参考轮廓(13')的序列(52)匹配,确定形成最佳匹配的一个或多个所选择的参考轮廓序列(13'); •对于这些所选择的参考轮廓序列(13')中的每一个,检索与所述参考轮廓(13')之一相关联的参考姿势; 以及•从检索的参考姿势或姿势计算所述铰接对象模型(4)的姿态的估计。 这些步骤的结果是初始姿态估计,其然后可以用于进一步的步骤,例如,用于维持来自连续帧的姿态估计之间的局部一致性,以及在更长的帧序列上的全局一致性。
    • 5. 发明申请
    • METHOD FOR ESTIMATING A POSE OF AN ARTICULATED OBJECT MODEL
    • 估计对象对象模型的方法
    • US20110267344A1
    • 2011-11-03
    • US13096488
    • 2011-04-28
    • Marcel GermannStephan Wuermlin StadlerRichard KeiserRemo ZieglerChristoph NiederbergerAlexander HornungMarcus Gross
    • Marcel GermannStephan Wuermlin StadlerRichard KeiserRemo ZieglerChristoph NiederbergerAlexander HornungMarcus Gross
    • G06K9/00G06T17/00
    • G06T15/205G06K9/00201G06T7/74G06T2207/10021G06T2207/30196
    • 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.
    • 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。
    • 8. 发明申请
    • Silhouette-based pose estimation
    • 基于轮廓的姿态估计
    • US20140219550A1
    • 2014-08-07
    • US14117593
    • 2012-05-08
    • Tiberiu PopaMarcel GermannRichard KeiserMarkus GrossRemo Ziegler
    • Tiberiu PopaMarcel GermannRichard KeiserMarkus GrossRemo Ziegler
    • G06K9/00G06T7/00
    • G06K9/00342G06K9/00724G06T7/73G06T2207/10021G06T2207/30196G06T2207/30228
    • Estimating a pose of an articulated 3D object model (4) by a computer is done by •obtaining a sequence of source images (10) and therefrom corresponding source image segments (13) with objects (14) separated from the image background; •matching such a sequence (51) with sequences (52) of reference silhouettes (13′), determining one or more selected sequences of reference silhouettes (13′) forming a best match; •for each of these selected sequences of reference silhouettes (13′), retrieving a reference pose that is associated with one of the reference silhouettes (13′); and •computing an estimate of the pose of the articulated object model (4) from the retrieved reference pose or poses. The result of these steps is an initial pose estimate, which then can be used in further steps, for example, for maintaining local consistency between pose estimates from consecutive frames, and global consistency over a longer sequence of frames.
    • 通过计算机估计关节式3D对象模型(4)的姿态是通过以下步骤完成的:通过从图像背景分离的对象(14)获得源图像序列(10)和源自相应源图像片段(13)的序列; •将这样的序列(51)与参考轮廓(13')的序列(52)匹配,确定形成最佳匹配的一个或多个所选择的参考轮廓序列(13'); •对于这些所选择的参考轮廓序列(13')中的每一个,检索与所述参考轮廓(13')之一相关联的参考姿势; 以及•从检索的参考姿势或姿势计算所述铰接对象模型(4)的姿态的估计。 这些步骤的结果是初始姿态估计,其然后可以用于进一步的步骤,例如,用于维持来自连续帧的姿态估计之间的局部一致性,以及在更长的帧序列上的全局一致性。