3D reconstruction of trajectory
AssigneeCanon Kabushiki Kaisha
InventorFei Mai
Life of this patent
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Abstract
Disclosed is a method of determining a 3D trajectory of an object from at least two observed trajectories of the object in a scene. The observed trajectories are captured in a series of images by at least one camera, each of the images in the series being associated with a pose of the camera. First and second points of the object from separate parallel planes of the scene are selected. A first set of 2D capture locations corresponding to the first point and a second set of 2D capture locations corresponding to the second point are reconstructed to determine an approximated 3D trajectory of the object.
Claims12
A method of determining a 3D trajectory of an object from at least two observed trajectories of the object in a scene, there being at least one unobserved trajectory of the object between the at least two observed trajectories, said at least two observed trajectories being captured in a series of images by at least one camera, each of the images in the series being associated with one of first and second poses of the at least one camera, said method comprising the steps of:
- selecting first and second points on the object from separate parallel planes of the scene for establishing a set of 2D capture locations;
- determining, from the series of captured images of the first pose of the at least one camera, a first set of 2D capture locations corresponding to the first point and a second set of 2D capture locations corresponding to the second point;
- determining, from the series of captured images of the second pose of the camera, a third set of 2D capture locations corresponding to the first point and a fourth set of 2D capture locations corresponding to the second point;
- reconstructing, relative to the first pose of the at least one camera and the second pose of the at least one camera, a first approximated 3D trajectory from the first set of 2D capture locations and the third set of 2D capture locations in the scene based on a spatial consistency of the first set of 2D capture locations and the third set of 2D capture locations and at least one unobserved location corresponding to the first point between the first set of 2D capture locations and the third set of 2D capture locations;
- reconstructing, relative to the first pose of the at least one camera and the second pose of the at least one camera, a second approximated 3D trajectory from the second set of 2D capture locations and the fourth set of 2D capture locations in the scene based on a spatial consistency of the second set of 2D capture locations and the fourth set of 2D capture locations and at least one unobserved location corresponding to the second point between the second set of 2D capture locations and the fourth set of 2D capture locations;
- and
- determining the 3D trajectory of the object based on the first and second approximated 3D trajectories, the determined 3D trajectory representing 3D locational information of the object when moving along the at least two observed trajectories and the at least one unobserved trajectory.
An apparatus for determining a 3D trajectory of an object from at least two observed trajectories of the object in a scene, there being at least one unobserved trajectory of the object between the at least two observed trajectories, said at least two observed trajectories being captured in a series of images by at least one camera, each of the images in the series being associated with one of first and second poses of the at least one camera, said apparatus comprising:
- an interface for receiving data from the at least one camera;
- a memory for storing data and computer program code;
- a processor coupled to said interface and said memory for executing a computer program for determining said 3D trajectory of the object from the at least two observed trajectories of the object in a scene, said computer program comprising:
- computer program code for selecting first and second points on the object from separate parallel planes of the scene for establishing a set of 2D capture locations;
- computer program code for determining, from the series of captured images of the first pose of the at least one camera, a first set of 2D capture locations corresponding to the first point and a second set of 2D capture locations corresponding to the second point;
- computer program code for determining, from the series of captured images of the second pose of the at least one camera, a third set of 2D capture locations corresponding to the first point and a fourth set of 2D capture locations corresponding to the second point;
- computer program code for reconstructing, relative to the first pose of the at least one camera, a first approximated 3D trajectory from the first set of 2D capture locations and the third set of 2D capture locations in the scene based on a spatial consistency of the first set of 2D capture locations and the third set of 2D capture locations and at least one unobserved location corresponding to the first point between the first set of 2D capture locations and the third set of 2D capture locations;
- reconstructing, relative to the second pose of the at least one camera, a second approximated 3D trajectory from the second set of 2D capture locations and the fourth set of 2D capture locations in the scene based on a spatial consistency of the second set of 2D capture locations and the fourth set of 2D capture locations and at least one unobserved location corresponding to the second point between the second set of 2D capture locations and the fourth set of 2D capture locations;
- and
- computer program code for determining the 3D trajectory of the object based on the first and second approximated 3D trajectories, the determined 3D trajectory representing 3D locational information of the object when moving along the at least two observed trajectories and the at least one unobserved trajectory.
Dependencies are inferred from the claim text.