xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α h f ground plane image plane (inverse) gravity...
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![Page 1: Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity ground plane orientation ground plane height object vertical](https://reader035.vdocuments.mx/reader035/viewer/2022062320/56649ccc5503460f949961c5/html5/thumbnails/1.jpg)
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
![Page 2: Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity ground plane orientation ground plane height object vertical](https://reader035.vdocuments.mx/reader035/viewer/2022062320/56649ccc5503460f949961c5/html5/thumbnails/2.jpg)
ground plane
inverse gravity
√
vertical surface candidate 1
vertical surface candidate 2
vertical surface candidate 1
vertical surface candidate 2
![Page 3: Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity ground plane orientation ground plane height object vertical](https://reader035.vdocuments.mx/reader035/viewer/2022062320/56649ccc5503460f949961c5/html5/thumbnails/3.jpg)
ground plane
vertical surface candidateinverse gravity
object candidate
√
![Page 4: Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity ground plane orientation ground plane height object vertical](https://reader035.vdocuments.mx/reader035/viewer/2022062320/56649ccc5503460f949961c5/html5/thumbnails/4.jpg)
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√
√
√
√
X
Local 3D context
Global 3D context
Best hypothesis
![Page 8: Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity ground plane orientation ground plane height object vertical](https://reader035.vdocuments.mx/reader035/viewer/2022062320/56649ccc5503460f949961c5/html5/thumbnails/8.jpg)
(inverse) gravity
ground plane orientation valid
valid invalid (#1)
invalid (#2)
invalid (#1)invalid
(#1)
incompatible (#3)
incompatible (#4)
ground plane
![Page 9: Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity ground plane orientation ground plane height object vertical](https://reader035.vdocuments.mx/reader035/viewer/2022062320/56649ccc5503460f949961c5/html5/thumbnails/9.jpg)
hiv hjv
vv
)()( jikhj
khi
k vvnv
)(kv
k vnv
hiv hjv
)()( jikhj
khi
k vvnv
(a)
(b)
![Page 10: Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity ground plane orientation ground plane height object vertical](https://reader035.vdocuments.mx/reader035/viewer/2022062320/56649ccc5503460f949961c5/html5/thumbnails/10.jpg)
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object maskback-projected mask
occlusion mask
After object is detected:
![Page 12: Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity ground plane orientation ground plane height object vertical](https://reader035.vdocuments.mx/reader035/viewer/2022062320/56649ccc5503460f949961c5/html5/thumbnails/12.jpg)
closer object
farther object
closer object
farther object
occlusion mask of the farther object
intersection region of the two object masks
![Page 13: Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity ground plane orientation ground plane height object vertical](https://reader035.vdocuments.mx/reader035/viewer/2022062320/56649ccc5503460f949961c5/html5/thumbnails/13.jpg)
w
l
β
pn~
ph~
![Page 14: Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity ground plane orientation ground plane height object vertical](https://reader035.vdocuments.mx/reader035/viewer/2022062320/56649ccc5503460f949961c5/html5/thumbnails/14.jpg)
ground plane
vertical surface candidate
object candidate
inverse gravity
![Page 15: Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity ground plane orientation ground plane height object vertical](https://reader035.vdocuments.mx/reader035/viewer/2022062320/56649ccc5503460f949961c5/html5/thumbnails/15.jpg)
supporting plane 1
supporting plane 2
![Page 16: Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity ground plane orientation ground plane height object vertical](https://reader035.vdocuments.mx/reader035/viewer/2022062320/56649ccc5503460f949961c5/html5/thumbnails/16.jpg)
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23
45 6
1
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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
![Page 21: Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity ground plane orientation ground plane height object vertical](https://reader035.vdocuments.mx/reader035/viewer/2022062320/56649ccc5503460f949961c5/html5/thumbnails/21.jpg)
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
![Page 22: Xbxb dbdb dtdt γ nvnv θ xtxt npnp hphp ngng α H f ground plane image plane (inverse) gravity ground plane orientation ground plane height object vertical](https://reader035.vdocuments.mx/reader035/viewer/2022062320/56649ccc5503460f949961c5/html5/thumbnails/22.jpg)
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