Patent ID: 11967023
Assignee: COMMONWEALTH SCIENTIFIC AND INDUSTRIAL RESEARCH ORGANISATION
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 10:
11. The method according to claim 9, wherein, when the colour selection algorithm is a cumulative approximation of a single iteration of the iteratively re-weighted least squares robust average, using a Gaussian weighting function:
a) for a first candidate colour of a 3D point, the method includes:
i. initialising a running mean with the first candidate colour;
ii. initialising a running covariance with an initial covariance matrix; and,
iii. initialising a running weight; and,

b) for each subsequent candidate colour of the 3D point, the method includes:
i. determining a current mean;
ii. determining a current covariance;
iii. determining a likelihood of the subsequent colour candidate using the current mean and current covariance;
iv. multiplying the subsequent candidate colour by the likelihood and adding the result to the running mean;
v. determining a difference between the subsequent candidate colour and the current mean;
vi. multiplying an outer product of the difference by the likelihood and adding the result to the running covariance;
vii. adding the likelihood to the running weight; and,
viii. determining an estimated mean by dividing the running mean by the running weight.