ITERATIVE CLOSEST POINT TECHNIQUE BASED ON A SOLUTION OF INVERSE KINEMATICS PROBLEM

摘要

Techniques related to non-rigid transformations for articulated bodies are discussed. Such techniques may include repeatedly selecting target positions for matching a kinematic model of an articulated body, generating virtual end-effectors for the kinematic model and corresponding to the target positions, generating an inverse kinematics problem including a Jacobian matrix, and determining a change in kinematic model parameters based on the inverse kinematics problem until a convergence is attained.

主权项

1. A method for providing a non-rigid transformation for an articulated body comprising:
selecting, based on input image data, a plurality of target positions for matching a kinematic model representing an articulated body, wherein the kinematic model comprises a pose based on initial kinematic model parameters that provide spatial relationships of elements of the kinematic model; generating a plurality of virtual end-effectors corresponding to the target positions based on the plurality of target positions and the kinematic model; generating an inverse kinematics problem comprising a Jacobian matrix based on the initial kinematic model parameters, the target positions, and the virtual end-effectors; determining a change in the kinematic model parameters based on the inverse kinematics problem; repeating the selecting the plurality of target positions, generating the plurality of virtual end-effectors, generating the inverse kinematics problem, and determining the change in the kinematic model parameters until a convergence is attained; and outputting resultant kinematic model parameters associated with the convergence.