SYSTEMS AND METHODS FOR GENERATING DATA INDICATIVE OF A THREE-DIMENSIONAL REPRESENTATION OF A SCENE
First Claim
1. A computer-implemented method for generating three-dimensional (“
- 3D”
) data, the method comprising;
(a) generating depth data indicative of a scene using a sensor, the depth data being associated with a current depth frame;
(b) detecting salient features within the current depth frame based upon the depth data;
(c) matching the detected salient features for the current depth frame with a saliency likelihoods distribution representation of the scene generated from previously detected salient features for a previously generated depth frame;
(d) determining an estimated pose of the sensor based upon the matching of detected salient features;
(e) refining the estimated pose based upon a volumetric representation of the scene; and
(f) updating the volumetric representation of the scene based on the current depth data and the refined estimated pose and updating the saliency likelihoods distribution representation based on the salient features for the current depth frame and the refined estimated pose.
0 Assignments
0 Petitions
Accused Products
Abstract
According to one aspect, there are systems and methods for generating data indicative of a three-dimensional representation of a scene. Current depth data indicative of a scene is generated using a sensor. Salient features are detected within a depth frame associated with the depth data, and these salient features are matched with a saliency likelihoods distribution. The saliency likelihoods distribution represents the scene, and is generated from previously-detected salient features. The pose of the sensor is estimated based upon the matching of detected salient features, and this estimated pose is refined based upon a volumetric representation of the scene. The volumetric representation of the scene is updated based upon the current depth data and estimated pose. A saliency likelihoods distribution representation is updated based on the salient features. Image data indicative of the scene may also be generated and used along with depth data.
-
Citations
21 Claims
-
1. A computer-implemented method for generating three-dimensional (“
- 3D”
) data, the method comprising;(a) generating depth data indicative of a scene using a sensor, the depth data being associated with a current depth frame; (b) detecting salient features within the current depth frame based upon the depth data; (c) matching the detected salient features for the current depth frame with a saliency likelihoods distribution representation of the scene generated from previously detected salient features for a previously generated depth frame; (d) determining an estimated pose of the sensor based upon the matching of detected salient features; (e) refining the estimated pose based upon a volumetric representation of the scene; and (f) updating the volumetric representation of the scene based on the current depth data and the refined estimated pose and updating the saliency likelihoods distribution representation based on the salient features for the current depth frame and the refined estimated pose. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
- 3D”
-
14. A system for generating three-dimensional (“
- 3D”
) data, the system comprising;(a) at least one sensor for generating depth data indicative of a scene; (b) a processor operatively coupled to the at least one sensor, the processor configured for; (i) generating depth data indicative of a scene using a sensor, the depth data being associated with a current depth frame; (ii) detecting salient features within the current depth frame based upon the depth data; (iii) matching the detected salient features for the current depth frame with a saliency likelihoods distribution representation of the scene generated from previously detected salient features for a previously generated depth frame; (iv) determining an estimated pose of the sensor based upon the matching of detected salient features; (v) refining the estimated pose based upon a volumetric representation of the scene; and (vi) updating the volumetric representation of the scene based on the current depth data and the refined estimated pose and updating the saliency likelihoods distribution representation based on the salient features for the current depth frame and the refined estimated pose. - View Dependent Claims (15, 16, 17, 18, 19, 20)
- 3D”
-
21. A computer-implemented method for generating three-dimensional (“
- 3D”
) data, the method comprising;(a) generating current depth data and current image data indicative of a scene using at least one sensor; generating a current depth saliency map and current depth descriptors based upon the current depth data, and generating a current image saliency map and current image descriptors based upon the current image data; (b) determining a current estimated pose of the at least one sensor based on aligning the current saliency maps with a scene saliency likelihoods representation, and aligning the current depth and image data with a scene surface representation; (c) updating the scene surface representation based on the current depth data, the current image data, and the current estimated pose; and
,(d) updating the scene saliency likelihoods representation based on the current saliency maps and the current estimated pose.
- 3D”
Specification