Three-dimensional scan registration with deformable models

A method comprising:

• determining, based on an image of a target and depth information associated with the image, a three-dimensional (3D) mesh model of the target, the 3D mesh model including a plurality of rotation and translation parameters;
• modifying the plurality of rotation and translation parameters to generate modified rotation and translation parameters;
• generating different instances of the 3D mesh model using the modified rotation and translation parameters, each instance of the 3D mesh model from the different instances of the 3D mesh model including different rotation and translation parameters from the modified rotation and translation parameters;
• generating, for each instance of the different instances of the 3D mesh model, a respective modified 3D mesh model based on one or more estimated losses in a plurality of rotation and translation parameters associated with the 3D mesh model and respective rotation and translation parameters of each instance of the 3D mesh model from the different instances of the 3D mesh model;
• and
• selecting, based on the one or more estimated losses, a final 3D mesh model of the target from a set of modified 3D mesh models comprising each respective modified 3D mesh model for each instance of the different instances of the 3D mesh model.

A non-transitory computer-readable medium having stored thereon instructions which, when executed by one or more processors, cause the one or more processors to:

• determine, based on an image of a target and depth information associated with the image, a three-dimensional (3D) mesh model of the target, the 3D mesh model including a plurality of parameters rotation and translation parameters;
• modify the plurality of rotation and translation parameters to generate modified rotation and translation parameters;
• generate different instances of the 3D mesh model using the modified rotation and translation parameters, each instance of the 3D mesh model from the different instances of the 3D mesh model including different rotation and translation parameters from the modified rotation and translation parameters;
• generate, for each instance of the different instances of the 3D mesh model, a respective modified 3D mesh model based on one or more estimated losses in a plurality of rotation and translation parameters associated with the 3D mesh model and respective rotation and translation parameters of each instance of the 3D mesh model from the different instances of the 3D mesh model;
• and
• select, based on the one or more estimated losses, a final 3D mesh model of the target from a set of modified 3D mesh models comprising each respective modified 3D mesh model for each instance of the different instances of the 3D mesh model.