A RGB D Shot Full Body Skeleton Coarse Model Smooth Point Cloud Head Pose Fine Model Fitting Body Template Two Pass Model Estimation Yaw Pitch
Existing single shot based human modeling methods generally cannot model the complete pose details (e.g. head and hand positions) without non trivial interactions. We explore the merits of both RGB and depth images and propose a new method called Single RGB D Fitting (SRDF) to generate a realistic 3D human model with a single RGB D shot from a consumer grade depth camera. Specifically, the state of the art deep learning techniques for RGB images are incorporated into SRDF, so that: 1) A compound skeleton detection method is introduced to obtain accurate 3D skeletons with refined hands based on the combination of depth and RGB images; and 2) an RGB image segmentation assisted point cloud pre processing method is presented to obtain smooth foreground point clouds. In addition, several novel constraints are also introduced into the energy minimization model, including the shape continuity constraint, the keypoint guided head pose prior constraint, and the penalty enforced point cloud prior constraint. The energy model is optimized in a two pass way so that a realistic shape can be estimated from coarse to fine. Through extensive experiments and comparisons with the state of the art methods, we demonstrate the effectiveness and efficiency of the proposed method.