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3D skeletonization using truncated epipolar lines

  • US 10,460,512 B2
  • Filed: 11/07/2017
  • Issued: 10/29/2019
  • Est. Priority Date: 11/07/2017
  • Status: Active Grant
First Claim
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1. A computing device, comprising:

  • a processing unit; and

    a memory;

    the computing device programmed, via computer-executable instructions, to perform operations for performing three-dimensional skeletonization, the operations comprising;

    receiving multiple two-dimensional images of a target object, wherein the multiple two-dimensional images depict the target object from different perspectives;

    identifying corresponding keypoints of the target object in the multiple two-dimensional images, wherein the identifying comprises projecting one or more truncated epipolar lines onto one or more of the multiple two-dimensional images using one or more keypoints in another one or more of the multiple two-dimensional images, wherein creating a truncated epipolar line comprises subtracting a truncation distance from a distance value associated with one of the keypoints, wherein the distance value is retrieved from a depth map associated with one of the multiple two-dimensional images;

    mapping the corresponding keypoints to three-dimensional coordinates in a three-dimensional space; and

    generating a three-dimensional skeleton of the target object using the three-dimensional coordinates.

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