Article Measurement of 3D-Shape Preferred Orientation (SPO ...
Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity...
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Transcript of Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity...
O
xy
z
xbdb
dt
γ
nv
θ
xt
np
hp
ng
α Hf
ground plane
image plane(inverse) gravity
ground plane orientation
ground plane height
object vertical orientation
real world heightobject depthcamera center
focal length
object pitch and roll angles
object landmarks
ground plane
inverse gravity
√
vertical surface candidate 1
vertical surface candidate 2
vertical surface candidate 1
vertical surface candidate 2
ground plane
vertical surface candidateinverse gravity
object candidate
√
√
√
√
√
X
Local 3D context
Global 3D context
Best hypothesis
(inverse) gravity
ground plane orientation valid
valid invalid (#1)
invalid (#2)
invalid (#1)invalid
(#1)
incompatible (#3)
incompatible (#4)
ground plane
hiv hjv
vv
)()( jikhj
khi
k vvnv
)(kv
k vnv
hiv hjv
)()( jikhj
khi
k vvnv
(a)
(b)
object maskback-projected mask
occlusion mask
After object is detected:
closer object
farther object
closer object
farther object
occlusion mask of the farther object
intersection region of the two object masks
w
l
β
pn~
ph~
ground plane
vertical surface candidate
object candidate
inverse gravity
supporting plane 1
supporting plane 2
23
45 6
1
Generate object/surface
candidates
Propose global 3D geometry
hypotheses by object/surface
candidates
Evaluate each hypothesis by
inferring validity of object/surface
candidates
Select the best hypothesis and its associated validity of object/surface
candidates
O
xy
z
xbdb
dt
γ
nv
θ
xt
np
hp
ng
α Hf
ground plane
image plane(inverse) gravity
ground plane orientation
ground plane height
object vertical orientation
real world heightobject depthcamera center
focal length
object pitch and roll angles
object landmarks