Learning-based pose estimation from depth maps
AssigneePrimesense Ltd.
InventorShai Litvak
Life of this patent
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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.
Claims51
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 patches distributed in respective positions over the humanoid form;
- 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.
Mapping apparatus, comprising:
- 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 patches distributed in respective positions over the humanoid form, 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.
A computer software product, comprising a 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 patches distributed in respective positions over the humanoid form, 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.
Dependencies are inferred from the claim text.