Learning-based pose estimation from depth maps
First Claim
Patent Images
1. A method for processing data, comprising:
- receiving a depth map of a scene containing a humanoid form, the depth map comprising a matrix of pixels having respective pixel depth values;
extracting from the depth map respective descriptors based on the depth values in a plurality of overlapping patches distributed in respective positions over the humanoid form, by dividing each patch into an array of spatial bins, and computing a vector of descriptor values corresponding to the pixel depth values in each of the spatial bins;
matching the extracted descriptors to previously-stored descriptors in a database; and
estimating a pose of the humanoid form based on stored information associated with the matched descriptors.
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Abstract
A method for processing data includes receiving a depth map of a scene containing a humanoid form. Respective descriptors are extracted from the depth map based on the depth values in a plurality of patches distributed in respective positions over the humanoid form. The extracted descriptors are matched to previously-stored descriptors in a database. A pose of the humanoid form is estimated based on stored information associated with the matched descriptors.
34 Citations
25 Claims
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1. A method for processing data, comprising:
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receiving a depth map of a scene containing a humanoid form, the depth map comprising a matrix of pixels having respective pixel depth values; extracting from the depth map respective descriptors based on the depth values in a plurality of overlapping patches distributed in respective positions over the humanoid form, by dividing each patch into an array of spatial bins, and computing a vector of descriptor values corresponding to the pixel depth values in each of the spatial bins; matching the extracted descriptors to previously-stored descriptors in a database; and estimating a pose of the humanoid form based on stored information associated with the matched descriptors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. Mapping apparatus, comprising:
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an imaging assembly, which is configured to provide a depth map of a scene containing a humanoid form, the depth map comprising a matrix of pixels having respective pixel depth values; and a processor, which is configured to extract from the depth map respective descriptors based on the depth values in a plurality of overlapping patches distributed in respective positions over the humanoid form, by dividing each patch into an array of spatial bins, and computing a vector of descriptor values corresponding to the pixel depth values in each of the spatial bins, to match the extracted descriptors to previously-stored descriptors in a database, and to estimate a pose of the humanoid form based on stored information associated with the matched descriptors. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A computer software product embodied in a non-transitory computer-readable medium in which program instructions are stored, which instructions, when read by a computer, cause the computer to receive a depth map of a scene containing a humanoid form, the depth map comprising a matrix of pixels having respective pixel depth values, to extract from the depth map respective descriptors based on the depth values in a plurality of overlapping patches distributed in respective positions over the humanoid form, by dividing each patch into an array of spatial bins, and computing a vector of descriptor values corresponding to the pixel depth values in each of the spatial bins, to match the extracted descriptors to previously-stored descriptors in a database, and to estimate a pose of the humanoid form based on stored information associated with the matched descriptors.
Specification