Surface extrction method, apparatus, and non-transitory computer readable storage medium thereof
AssigneeHTC Corporation
InventorsYi-Chen LIN, Hung-Yi YANG
Life of this patent
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Abstract
A surface extraction method that includes the steps outlined below is provided. (A) Raw input depth data of 3D child nodes are received that includes positions and distances of first 3D child nodes and positions of second 3D child nodes. (B) The neighboring 3D child nodes are grouped into 3D parent nodes. (C) For each 3D parent nodes, propagated distances of the second 3D child nodes are generated. (D) The 3D parent nodes are treated as the 3D child nodes to perform the steps (B)-(D) to generate a tree including a plurality levels of nodes such that a surface extraction processing is performed on the tree to extract at least one surface of the scene.
Claims20
A surface extraction method, comprising:
- (A) receiving raw input depth data of a plurality of 3D child nodes of a scene, wherein the raw input depth data comprises positions and distances of a plurality of first 3D child nodes of the 3D child nodes and the positions but without the distances of a plurality of second 3D child nodes of the 3D child nodes, and each of the distances is a distance value from the first 3D child nodes to an object surface of an object in the scene;
- (B) grouping the neighboring 3D child nodes into a plurality of 3D parent nodes, wherein each of the 3D parent nodes comprises the same number of the 3D child points;
- (C) for each of the 3D parent nodes, generating propagated distances of the second 3D child nodes within the 3D parent nodes according to the distances of the first 3D child nodes within the same 3D parent nodes;
- and
- (D) treating the 3D parent nodes as the 3D child nodes to perform the steps (B)-(D) until the number of the 3D parent nodes is a predetermined number that become a root to generate a tree comprising a plurality levels of nodes such that a surface extraction processing is performed on the tree to extract at least one surface of the scene.
A surface extraction apparatus, comprising:
- a processing circuit;
- and
- a memory electrically connected to the processing circuit and configured to store at least one program configured to be executed by the processing circuit, the at least one program comprising instructions for performing a surface extraction method comprising:
- (A) receiving raw input depth data of a plurality of 3D child nodes of a scene from a depth camera, wherein the raw input depth data comprises positions and distances of a plurality of first 3D child nodes of the 3D child nodes and the positions but without the distances of a plurality of second 3D child nodes of the 3D child nodes, and each of the distances is a distance value from the first 3D child nodes to an object surface of an object in the scene;
- (B) grouping the neighboring 3D child nodes into a plurality of 3D parent nodes, wherein each of the 3D parent nodes comprises the same number of the 3D child points;
- (C) for each of the 3D parent nodes, generating propagated distances of the second 3D child nodes within the 3D parent nodes according to the distances of the first 3D child nodes within the same 3D parent nodes;
- (D) treating the 3D parent nodes as the 3D child nodes to perform the steps (B)-(D) until the number of the 3D parent nodes is a predetermined number that become a root to generate a tree comprising a plurality levels of nodes such that a surface extraction processing is performed on the tree to extract at least one surface of the scene.
A non-transitory computer readable storage medium storing at least one program, comprising instructions, which when executed, causes a processing circuit to perform a surface extraction method comprising:
- (A) receiving raw input depth data of a plurality of 3D child nodes of a scene from a depth camera, wherein the raw input depth data comprises positions and distances of a plurality of first 3D child nodes of the 3D child nodes and the positions but without the distances of a plurality of second 3D child nodes of the 3D child nodes, and each of the distances is a distance value from the first 3D child nodes to an object surface of an object in the scene;
- (B) grouping the neighboring 3D child nodes into a plurality of 3D parent nodes, wherein each of the 3D parent nodes comprises the same number of the 3D child points;
- (C) for each of the 3D parent nodes, generating propagated distances of the second 3D child nodes within the 3D parent nodes according to the distances of the first 3D child nodes within the same 3D parent nodes;
- and
- (D) treating the 3D parent nodes as the 3D child nodes to perform the steps (B)-(D) until the number of the 3D parent nodes is a predetermined number that become a root to generate a tree comprising a plurality levels of nodes such that a surface extraction processing is performed on the tree to extract at least one surface of the scene.
Dependencies are inferred from the claim text.