METHOD AND DEVICE FOR DETERMINING A TRANSFORMATION BETWEEN AN IMAGE COORDINATE SYSTEM AND AN OBJECT COORDINATE SYSTEM ASSOCIATED WITH AN OBJECT OF INTEREST

摘要

A method of determining a transformation is provided between an image coordinate system and an object coordinate system including: providing an object coordinate system associated with the object of interest, providing a 3D model of at least part of the object of interest, wherein the 3D model comprises 3D features, providing an N-th input depth image of at least part of the object of interest, wherein an N-th image coordinate system is associated with the N-th input depth image, providing an N-th plurality of 3D features in the N-th image coordinate system according to the N-th input depth image, estimating an N-th coarse transformation between the object coordinate system and the N-th image coordinate system according to a trained pose model and the N-th input depth image, and determining an N-th accurate transformation between the N-th image coordinate system and the object coordinate system.

主权项

1. A method of determining a transformation between an image coordinate system and an object coordinate system associated with an object of interest, comprising the steps of:
(a) providing an object coordinate system associated with the object of interest; (b) providing a 3D model of at least part of the object of interest, wherein the 3D model comprises 3D features; (c) providing an N-th input depth image of at least part of the object of interest, wherein an N-th image coordinate system is associated with the N-th input depth image, with N being a positive integer; (d) providing an N-th plurality of 3D features in the N-th image coordinate system according to the N-th input depth image; (e) estimating an N-th coarse transformation between the object coordinate system and the N-th image coordinate system according to a trained pose model and the N-th input depth image; and (f) determining an N-th accurate transformation between the N-th image coordinate system and the object coordinate system according to the N-th coarse transformation, at least part of the N-th plurality of 3D features, and at least part of the 3D features of the 3D model.