CPC G06T 7/80 (2017.01) [G06N 3/08 (2013.01); G06V 20/42 (2022.01); G06V 20/46 (2022.01); G06V 20/48 (2022.01)] | 20 Claims |
1. A system for estimating one or more camera parameters, the system comprising:
one or more computer processors; and
memory storing computer-executable instructions that, when executed by the one or more computer processors, cause the one or more computer processors to perform operations comprising:
determining one or more semantic keypoints for an image in an image sequence;
determining one or more person keypoints for the image;
generating a first estimated homography using the one or more semantic keypoints for the image;
projecting each of the one or more person keypoints for the image onto a world coordinate system of a particular environment;
determining, for each of the one or more person keypoints for the image, based at least in part on projecting each of the one or more person keypoints for the image onto the world coordinate system of the particular environment, a proximate person keypoint location in the world coordinate system of the particular environment;
determining, for each of the one or more semantic keypoints for the image, a semantic keypoint location in the world coordinate system of the particular environment;
generating a second estimated homography using the one or more semantic keypoints for the image, the semantic keypoint location for each of the one or more semantic keypoints for the image, the one or more person keypoints for the image, and the proximate person keypoint location for each of the one or more person keypoints for the image;
determining a final estimated homography based at least in part on the second estimated homography;
determining one or more intrinsic parameter estimates based at least in part on the final estimated homography; and
determining one or more extrinsic parameter estimates based at least in part on the final estimated homography.
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