CPC H04N 23/10 (2023.01) [G06T 7/33 (2017.01); G06T 7/73 (2017.01); G06T 2200/04 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20224 (2013.01); G06T 2207/30244 (2013.01)] | 9 Claims |
1. A method for refining poses, the method comprising:
(a) receiving a plurality of poses each associated with one of a plurality of captured depth images, wherein each of the plurality of captured depth images is associated with one of a plurality of captured depth maps;
(b) performing volumetric reconstruction for the plurality of poses to produce a polygonal mesh corresponding to a global geometry;
(c) rendering, using the polygonal mesh, a depth map associated with each of the plurality of poses;
(d) aligning each captured depth map of the plurality of captured depth maps to each rendered depth map associated with each of the plurality of poses to provide refined poses; and
(e) iterating on (b), (c), and (d) using the refined poses for a predetermined number of iterations.
|