Patent ID: 11954870
Assignee: TSINGHUA UNIVERSITY
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 11:
12. The apparatus of claim 11, wherein the validity energy function is expressed by a following formula:

Et=λdEd+λcEc+λmEm 

wherein Et denotes a total energy term, Ed denotes the depth energy term, Ec denotes the center energy term, Em denotes the motion energy term, and λd denotes a weight coefficient corresponding to the depth energy term, λc denotes a weight coefficient corresponding to the center energy term, and λm denotes a weight coefficient corresponding to the motion energy term; and
the depth energy term, the center energy term and the motion energy term are respectively expressed by following formulas:, E
   d
  
  =
  
   ψ
   ⁡
   (
   
    
     d
     
      a
      ⁢
      v
      ⁢
      g
     
    
    -
    
     d
     o
    
   
   )
  
 

 
  
   E
   c
  
  =
  
   
    
     ∑
     r
    
    
     1
     
      λ
      +
      
       d
       ⁢
       
        u
        2
       
      
     
    
   
   +
   
    1
    
     λ
     +
     
      d
      ⁢
      
       v
       2
      
     
    
   
  
 

 
  
   E
   m
  
  =
  
   
    
     ∑
     r
    
    
     
      ϕ
      1
     
     (
     r
     )
    
   
   +
   
    
     ∑
     
      x
      i
     
    
    
     
      ϕ
      2
     
     (
     
      x
      i
     
     )
    
   
  
 

 
  
   
    ϕ
    1
   
   (
   r
   )
  
  =
  
   
    
    
     1
     +
     
      
       N
       x
       ′
      
      (
      
       
        
         T
         c
         
          -
          1
         
        
        ⁢
        
         t
         v
        
       
       -
       
        x
        n
       
      
      )
     
    
    
   
   2
   2
  
 

 
  
   
    ϕ
    2
   
   (
   
    x
    i
   
   )
  
  =
  
   
    
    
     π
     ⁡
     (
     
      
       T
       V
      
      ⁢
      
       
        T
        C
       
       (
       
        
         x
         i
         ′
        
        -
        
         x
         i
        
       
       )
      
     
     )
    
    
   
   2
   2
  
 

wherein Tc denotes poses of the array of drones in the reconstruction model and TV denotes poses of the candidate observation points in the reconstruction model; tv denotes translation components of the poses of the candidate observation points; xn denotes a voxel of the reconstruction model hit by a ray; Nx denotes a normal direction of the voxel; xi denotes a node to be subjected to non-rigid deformation in the reconstruction model; xi′ denotes a node having been subjected to the non-rigid deformation; π( ) denotes a projection perspective transformation from three-dimensional space to a two-dimensional image plane; davg denotes an average depth value of each candidate observation point and do denotes a respective target depth value; ψ( ) denotes a penalization term for a distance; r denotes light rays projected from the candidate observation points and passing through the reconstruction model; du and dv denote an average abscissa and an average ordinate of projection pixels of the reconstruction model at each candidate observation point, respectively; λ denotes a damping factor; and ϕ1 is used for counting motion information of all rays of the candidate observation points and ϕ2 is used for counting motion information of all observed deformation nodes.