Using an image in a parallelizable architecture, initializes the local geometry or surface normal surfel, a method for solving

摘要

system and method for solving the surface normal of the object in the scene observed by the video stream is described herein. Systems and methods, to generate a set of key frames, the steps of the video stream sampling, and generating hypotheses surface normal on the set of map points in each of the key frames, each of the hypothetical plane normal using the calculated warping matrix from the step of warp patches corresponding map points in the first key frame to the viewpoint of the second key frames, each hypothesis surfaces normal to each other in the two keyframes a step of scoring the warping error between may include the step of discarding the hypothesis surface normal with a high warping error between the first key frame and the second key frame.