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THREE DIMENSIONAL SCENE RECONSTRUCTION BASED ON CONTEXTUAL ANALYSIS

  • US 20180018805A1
  • Filed: 07/13/2016
  • Published: 01/18/2018
  • Est. Priority Date: 07/13/2016
  • Status: Active Grant
First Claim
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1. A processor-implemented method for 3-Dimensional (3D) scene reconstruction, the method comprising:

  • receiving, by a processor, a plurality of 3D image frames of a scene, each frame comprising a red-green-blue (RGB) image frame comprising color pixels and a depth map frame comprising depth pixels, wherein each of the 3D image frames is associated with a pose of a depth camera that generated the 3D image frames;

    projecting, by the processor, the depth pixels into points in a global coordinate system based on the camera pose;

    accumulating, by the processor, the projected points into a 3D reconstruction of the scene;

    detecting, by the processor, objects for each 3D image frame, based on the camera pose, the 3D reconstruction, the RGB image frame and the depth map frame;

    classifying, by the processor, the detected objects into one or more object classes;

    grouping, by the processor, a plurality of instances of objects in one of the object classes based on a measure of similarity of features between the object instances; and

    combining, by the processor, point clouds associated with each of the grouped object instances to generate a fused object.

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