Patent ID: 11941760
Assignee: TATA CONSULTANCY SERVICES LIMITED
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 6:
7. One or more non-transitory machine-readable information storage mediums comprising one or more instructions which when executed by one or more hardware processors cause:
fetching a sequence of RGBD images of the scene, via one or more hardware processors;
generating a mesh representation of each RGBD image in the sequence of RGBD images, via the one or more hardware processors, wherein generating the mesh representation for each of the RGBD images comprises:
segregating a planar point cloud and a non-planar point cloud from the RGBD image by performing a plane segregation on the RGBD image;
generating a planar mesh from the planar point cloud;
generating a non-planar mesh from the non-planar point cloud; and
merging the planar mesh and the non-planar mesh to generate a combined mesh;

estimating a camera pose information, by performing plane matching and pose estimation on each two consecutive images in the sequence of RGBD images via the one or more hardware processors; and
performing an incremental merging of the generated mesh representation of the plurality of images using the estimated camera pose information, to generate a representation of the scene captured in the sequence of RGBD images, via the one or more hardware processors.