Calibrating object shape
First Claim
1. An apparatus for calibrating a three dimensional mesh model of an articulated object which is an instance of a specified object class, the apparatus comprising:
- a processor configured to act as;
an input configured to receive captured sensor data depicting the object;
a calibration engine configured to compute values of shape parameters of the three dimensional mesh model which indicate which member of the object class is depicted in the captured sensor data, in order to calibrate the three dimensional mesh model;
the calibration engine configured to compute the values of the shape parameters with an optimization process to find at least one potential local or global minimum of an energy function, the energy function expressing a degree of similarity between data rendered from the three dimensional mesh model and the received sensor data; and
the calibration engine configured to compute the optimization process by computing derivatives of the energy function, wherein the optimization process includes a back-tracking search.
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Accused Products
Abstract
Examples describe an apparatus for calibrating a three dimensional (3D) mesh model of an articulated object. The articulated object is an instance of a specified object class. The apparatus comprises an input configured to receive captured sensor data depicting the object. The apparatus has a calibration engine configured to compute values of shape parameters of the 3D mesh model which indicate which member of the object class is depicted in the captured sensor data, in order to calibrate the 3D mesh model. The calibration engine is configured to compute the values of the shape parameters with an optimization process to find at least one potential local or global minimum of an energy function, the energy function expressing a degree of similarity between data rendered from the model and the received sensor data.
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Citations
20 Claims
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1. An apparatus for calibrating a three dimensional mesh model of an articulated object which is an instance of a specified object class, the apparatus comprising:
a processor configured to act as; an input configured to receive captured sensor data depicting the object; a calibration engine configured to compute values of shape parameters of the three dimensional mesh model which indicate which member of the object class is depicted in the captured sensor data, in order to calibrate the three dimensional mesh model; the calibration engine configured to compute the values of the shape parameters with an optimization process to find at least one potential local or global minimum of an energy function, the energy function expressing a degree of similarity between data rendered from the three dimensional mesh model and the received sensor data; and the calibration engine configured to compute the optimization process by computing derivatives of the energy function, wherein the optimization process includes a back-tracking search. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method of calibrating a three dimensional mesh model of an articulated object which is an instance of a specified object class comprising:
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receiving captured sensor data depicting the object; computing values of shape parameters which indicate which member of the object class is represented, in order to calibrate the three dimensional mesh model; wherein computing the values of the shape parameters comprises using an optimization process to find at least one potential local or global minimum of an energy function, the energy function expressing a degree of similarity between data rendered from the three dimensional mesh model and the received sensor data; and computing the optimization process by computing derivatives of the energy function, wherein the optimization process includes a back-tracking search. - View Dependent Claims (17, 18, 19)
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20. An apparatus for calibrating a three dimensional mesh model of an articulated object which is an instance of a specified object class, the apparatus comprising:
a processor configured to act as; an input configured to receive captured sensor data depicting the object; a calibration engine configured to compute values of shape parameters of the three dimensional mesh model which indicate which member of the object class is depicted in the captured sensor data, in order to calibrate the three dimensional mesh model; the calibration engine configured to compute the values of the shape parameters and values of pose parameters of the model with an optimization process to find at least one potential local or global minimum of an energy function, the energy function expressing a degree of similarity between data rendered from the three dimensional mesh model and the received sensor data; the calibration engine further configured to compute the optimization process by computing derivatives of the energy function, wherein the optimization process includes a back-tracking search.
Specification