DEPTH SENSOR NOISE
First Claim
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1. A computer-implemented method for determining a function configured for adding a noise of a type of depth sensor to an input depth map, the method comprising:
- forming a learning dataset, the learning dataset including a plurality of noiseless depth maps each associated to a respective noisy depth map, each noiseless depth map and respective noisy depth map corresponding to a same one of a plurality of depth sensor positionings in one or more scenes, the forming including;
acquiring each noisy depth map with a physical instance of the type of depth sensor, andvirtually calculating each noiseless depth map; and
learning the function based on the learning dataset.
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Abstract
Described is a computer-implemented method for learning a function configured for reconstructing, for a class of real objects, a 3D modeled object that represents an instance of the class from a depth map of the instance. The method comprises providing a parametric model of the class, creating a database, and learning the function with the database. The method improves the 3D reconstruction of a real object from a depth map.
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Citations
24 Claims
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1. A computer-implemented method for determining a function configured for adding a noise of a type of depth sensor to an input depth map, the method comprising:
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forming a learning dataset, the learning dataset including a plurality of noiseless depth maps each associated to a respective noisy depth map, each noiseless depth map and respective noisy depth map corresponding to a same one of a plurality of depth sensor positionings in one or more scenes, the forming including; acquiring each noisy depth map with a physical instance of the type of depth sensor, and virtually calculating each noiseless depth map; and learning the function based on the learning dataset. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A non-transitory computer readable medium having recorded thereon a function learnable according to a computer-implemented method for determining a function configured for adding a noise of a type of depth sensor to an input depth map, the method comprising:
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forming a learning dataset, the learning dataset including a plurality of noiseless depth maps each associated to a respective noisy depth map, each noiseless depth map and respective noisy depth map corresponding to a same one of a plurality of depth sensor positionings in one or more scenes, the forming including; acquiring each noisy depth map with a physical instance of the type of depth sensor, and virtually calculating each noiseless depth map; and learning the function based on the learning dataset.
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15. A computer-implemented method for generating a depth map based on a depth sensor positioning in a scene and on a predetermined model of the scene, the method comprising:
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virtually calculating a noiseless depth map based on the depth sensor positioning and on the predetermined model of the scene; and applying, to the calculated noiseless depth map, a function learnable according to a further computer-implemented method for determining a function configured for adding a noise of a type of depth sensor to an input depth map, including; forming a learning dataset, the learning dataset including a plurality of noiseless depth maps each associated to a respective noisy depth map, each noiseless depth map and respective noisy depth map corresponding to a same one of a plurality of depth sensor positionings in one or more scenes, the forming including; acquiring each noisy depth map with a physical instance of the type of depth sensor, and virtually calculating each noiseless depth map; and learning the function based on the learning dataset.
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16. A non-transitory computer readable medium having recorded thereon a computer program comprising instructions for performing a computer-implemented method for determining a function configured for adding a noise of a type of depth sensor to an input depth map, the method comprising:
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forming a learning dataset, the learning dataset including a plurality of noiseless depth maps each associated to a respective noisy depth map, each noiseless depth map and respective noisy depth map corresponding to a same one of a plurality of depth sensor positionings in one or more scenes, the forming including; acquiring each noisy depth map with a physical instance of the type of depth sensor, and virtually calculating each noiseless depth map; and learning the function based on the learning dataset.
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17. A computer system comprising:
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a processor coupled to the memory, the memory having recorded thereon a computer program comprising instructions for performing a computer-implemented method for determining a function configured for adding a noise of a type of depth sensor to an input depth map, the instructions when executed by the processor cause the process to be configured to; form a learning dataset, the learning dataset including a plurality of noiseless depth maps each associated to a respective noisy depth map, each noiseless depth map and respective noisy depth map corresponding to a same one of a plurality of depth sensor positionings in one or more scenes, the processor being configured to form the learning dataset by being further configured to acquire each noisy depth map with a physical instance of the type of depth sensor, and virtually calculate each noiseless depth map; and learn the function based on the learning dataset. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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Specification