Method, apparatus for shape estimation, and non-transitory computer-readable storage medium

• US 10,453,206 B2
• Filed: 08/22/2017
• Issued: 10/22/2019
• Est. Priority Date: 09/20/2016
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Nakagata, Shohei
• Primary Examiner(s): Allison, Andrae S
• Application Number:
  US15/683,318
• Publication Number:
  US 20180082434A1
• Time in Patent Office: 791 Days
• Field of Search: None
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06T 7/136 involving thresholding
• CPC Class Codes: G06T 7/174 involving the use of two or more images
• CPC Class Codes: G06T 7/579 from motion
• CPC Class Codes: G06V 10/757 Matching configurations of points or features
• CPC Class Codes: G06V 20/64 Three-dimensional objects
• CPC Class Codes: G06V 40/107 Static hand or arm

Abstract

A method for shape estimation includes: executing extraction processing that includes extracting a plurality of feature points from a plurality of pieces of image information of a same subject photographed with a time difference; executing estimation processing that includes first processing for selecting feature points from the plurality of feature points; second processing for estimating a three-dimensional shape of the subject based on the selected feature points; third processing for removing the feature points from the plurality of feature points after the estimation of the three-dimensional shape based on the feature points; and fourth processing for executing the first processing, the second processing, and the third processing on the plurality of feature points from which the feature points are removed by the third processing; and executing integration processing that includes integrating a plurality of the three-dimensional shapes estimated by the estimating processing.

Claims

1. A method for shape estimation, performed by a computer, the method comprising:

executing extraction processing that includes extracting a plurality of feature points from a plurality of pieces of image information of a same subject photographed with a time difference;

executing estimation processing that includes

first processing for selecting first feature points from the plurality of feature points such that a component determined as a noise is removed from the selected first feature points,

second processing for estimating a three-dimensional shape of the subject based on the selected first feature points after the first processing is performed,

third processing for obtaining second feature points by removing the selected first feature points from the plurality of feature points after the estimation of the three-dimensional shape is performed by the second processing with the selected first feature points, and

fourth processing for executing the first processing, the second processing, and the third processing on the second feature points as the plurality of feature points from which the feature points are removed by the third processing; and

executing integration processing that includes integrating a plurality of the three-dimensional shapes estimated by the estimating processing,

wherein the third processing is configured to

divide a region including the selected first feature points into a plurality of partial regions when the estimation of the three-dimensional shape of the subject is performed successfully; and

obtain the second feature points by removing, from the plurality of partial regions, a partial region where a ratio of included feature points other than the selected first feature points is smaller than a threshold.

2. The method according to claim 1,

wherein the plurality of pieces of image information are pieces of image information respectively photographed by a same camera according to different parameters, and

wherein the integration processing includes integrating the plurality of three-dimensional shapes after converting three-dimensional coordinates of the plurality of three-dimensional shapes according to a designated parameter.

3. An apparatus for shape estimation, the apparatus comprising:

a memory; and

a processor coupled to the memory and configured to

execute extraction processing that includes extracting a plurality of feature points from a plurality of pieces of image information of a same subject photographed with a time difference;

execute estimation processing that includes

first processing for selecting first feature points from the plurality of feature points such that a component determined as a noise is removed from the selected first feature points,

second processing for estimating a three-dimensional shape of the subject based on the selected first feature points after the first processing is performed,

third processing for obtaining second feature points by removing the selected first feature points from the plurality of feature points after the estimation of the three-dimensional shape is performed by the second processing with the selected first feature points, and

fourth processing for executing the first processing, the second processing, and the third processing on the second feature points as the plurality of feature points from which the feature points are removed by the third processing; and

execute integration processing that includes integrating a plurality of the three-dimensional shapes estimated by the estimating processing,

wherein the third processing is configured to

divide a region including the selected first feature points into a plurality of partial regions when the estimation of the three-dimensional shape of the subject is performed successfully; and

obtain the second feature points by removing, from the plurality of partial regions, a partial region where a ratio of included feature points other than the selected first feature points is smaller than a threshold.

4. The apparatus according to claim 3,

wherein the plurality of pieces of image information are pieces of image information respectively photographed by a same camera according to different parameters, and

wherein the integration processing includes integrating the plurality of three-dimensional shapes after converting three-dimensional coordinates of the plurality of three-dimensional shapes according to a designated parameter.

5. A non-transitory computer-readable storage medium for storing a program for shape estimation, the program causing a computer to execute a process, the process comprising:

executing extraction processing that includes extracting a plurality of feature points from a plurality of pieces of image information of a same subject photographed with a time difference;

executing estimation processing that includes

first processing for selecting first feature points from the plurality of feature points such that a component determined as a noise is removed from the selected first feature points,

second processing for estimating a three-dimensional shape of the subject based on the selected first feature points after the first processing is performed,

third processing for obtaining second feature points by removing the selected first feature points from the plurality of feature points after the estimation of the three-dimensional shape is performed by the second processing with the selected first feature points, and

fourth processing for executing the first processing, the second processing, and the third processing on the second feature points as the plurality of feature points from which the feature points are removed by the third processing; and

executing integration processing that includes integrating a plurality of the three-dimensional shapes estimated by the estimating processing,

wherein the third processing is configured to

divide a region including the selected first feature points into a plurality of partial regions when the estimation of the three-dimensional shape of the subject is performed successfully; and

obtain the second feature points by removing, from the plurality of partial regions, a partial region where a ratio of included feature points other than the selected first feature points is smaller than a threshold.

6. The non-transitory computer-readable storage medium according to claim 5,

wherein the plurality of pieces of image information are pieces of image information respectively photographed by a same camera according to different parameters, and

wherein the integration processing includes integrating the plurality of three-dimensional shapes after converting three-dimensional coordinates of the plurality of three-dimensional shapes according to a designated parameter.