METHOD, APPARATUS FOR SHAPE ESTIMATION, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM

• US 20180082434A1
• Filed: 08/22/2017
• Published: 03/22/2018
• Est. Priority Date: 09/20/2016
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: NAKAGATA, Shohei
• Granted Patent: US 10,453,206 B2
• Time in Patent Office: Days
• 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, by a processor of the computer, 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, by a processor of the computer, 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, by a processor of the computer, integration processing that includes integrating a plurality of the three-dimensional shapes estimated by the estimating processing.

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. The method according to claim 1,

wherein the estimation processing includes

dividing a region including the feature points into a plurality of partial regions when the estimation of the three-dimensional shape of the subject is successful;

and

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

4. 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 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

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

5. The apparatus according to claim 4,

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.

6. The apparatus according to claim 4,

wherein the estimation processing includes

dividing a region including the feature points into a plurality of partial regions when the estimation of the three-dimensional shape of the subject is successful;

and

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

7. 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 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.

8. The non-transitory computer-readable storage medium according to claim 7,

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.

9. The non-transitory computer-readable storage medium according to claim 7,

wherein the estimation processing includes

dividing a region including the feature points into a plurality of partial regions when the estimation of the three-dimensional shape of the subject is successful;

and

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