Method for estimating volumetric distance maps from 2D depth images
First Claim
1. A method for generating a volumetric distance map of an object, comprising the steps of:
- generating a depth image of the object;
projecting the depth image to obtain a projected distance volume of the object, the projected distance volume having a plurality of sample points, each sample point of the projected distance volume representing a distance from the distance map to a surface of the object;
determining a magnitude of a local gradient at each sample point of the projected distance volume;
dividing each distance at each sample point by the magnitude of the corresponding local gradient at each sample point to obtain a scalar distance to a closest surface of the object.
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Abstract
A volumetric distance map of an object is generated from one or more depth images of the object. Each depth image is projected onto the object by casting parallel rays to the object. The parallel rays are cast perpendicular to the depth image. Sample points in a projected distance volume represent distances from the distance map to a surface of the object. The magnitude of a local gradient at each sample point of the projected distance volume is determined, and each distance at each sample point is divided by the magnitude of the corresponding local gradient at each sample point to obtain a scalar distance to a closest surface of the object.
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Citations
11 Claims
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1. A method for generating a volumetric distance map of an object, comprising the steps of:
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generating a depth image of the object;
projecting the depth image to obtain a projected distance volume of the object, the projected distance volume having a plurality of sample points, each sample point of the projected distance volume representing a distance from the distance map to a surface of the object;
determining a magnitude of a local gradient at each sample point of the projected distance volume;
dividing each distance at each sample point by the magnitude of the corresponding local gradient at each sample point to obtain a scalar distance to a closest surface of the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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Specification