Method for estimating a pose of an articulated object model

摘要

A computer-implemented method for estimating a pose of an articulated object model that is a computer based 3D model of a real world object observed by one or more source cameras, including the steps of obtaining a source image from a video stream; processing the source image to extract a source image segment maintaining, in a database, a set of reference silhouettes, each being associated with an articulated object model and a corresponding reference pose; comparing the source image segment to the reference silhouettes and selecting reference silhouettes by taking into account, for each reference silhouette, a matching error that indicates how closely the reference silhouette matches the source image segment retrieving the corresponding reference poses of the articulated object models; and computing an estimate of the pose of the articulated object model from the reference poses of the selected reference silhouettes.

主权项

1. A computer-implemented method for estimating a pose of an articulated object model, wherein the articulated object model is a computer based 3D model that is executed on a digital computer or a computer system comprising a computer memory and a processing unit coupled to the computer memory, wherein the computer based 3D model is of a real world object observed by one or more source cameras, and the articulated object model represents a plurality of joints and of links that link the joints, and wherein the pose of the articulated object model is defined by the spatial location of the joints, the method comprising the steps of:
obtaining at least one source image from a video stream comprising a view of the real world object recorded by a source camera; processing by the processing unit the at least one source image to extract a corresponding source image segment comprising the view of the real world object separated from the image background; maintaining, in a database in computer readable form, a set of reference silhouettes, each reference silhouette being associated with an articulated object model and with a particular reference pose of this articulated object model; comparing by the processing unit the at least one source image segment to the reference silhouettes and selecting a predetermined number of reference silhouettes by taking into account, for each reference silhouette,
wherein the processing unit determines a matching error that indicates how closely the reference silhouette matches the source image segment and/orwherein the processing unit determines a coherence error that indicates how much the reference pose is consistent with the pose of the same real world object as estimated from at least one of preceding and following source images of the video stream; retrieving by the processing unit the reference poses of the articulated object models associated with the selected of reference silhouettes; and computing by the processing unit an estimate of the pose of the articulated object model from the reference poses of the selected reference silhouettes.