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METHOD FOR INITIALIZING AND SOLVING THE LOCAL GEOMETRY OR SURFACE NORMALS OF SURFELS USING IMAGES IN A PARALLELIZABLE ARCHITECTURE
METHOD FOR INITIALIZING AND SOLVING THE LOCAL GEOMETRY OR SURFACE NORMALS OF SURFELS USING IMAGES IN A PARALLELIZABLE ARCHITECTURE
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机译:在可扩展的体系结构中使用图像初始化和求解表面的局部几何或表面法线的方法
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摘要
A system and method is described herein for solving for surface normals of objects in the scene observed in a video stream. The system and method may include sampling the video stream to generate a set of keyframes; generating hypothesis surface normals for a set of mappoints in each of the keyframes; warping patches of corresponding mappoints in a first keyframe to the viewpoint of a second keyframe with a warping matrix computed from each of the hypothesis surface normals; scoring warping errors between each hypothesis surface normal in the two keyframes; and discarding hypothesis surface normals with high warping errors between the first and second keyframes.
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