93 lines
3.2 KiB
Plaintext
93 lines
3.2 KiB
Plaintext
flowchart TD
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%% =========================
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%% Multi-view 2D stage
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%% =========================
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subgraph VIEWS["Per-view input (cameras 1..N)"]
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direction LR
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C1["Cam 1\n2D detections: 133×2 (+conf)"] --> T1["2D latest tracking cache\n(view 1)"]
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C2["Cam 2\n2D detections: 133×2 (+conf)"] --> T2["2D latest tracking cache\n(view 2)"]
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C3["Cam 3\n2D detections: 133×2 (+conf)"] --> T3["2D latest tracking cache\n(view 3)"]
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C4["Cam 4\n2D detections: 133×2 (+conf)"] --> T4["2D latest tracking cache\n(view 4)"]
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end
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%% =========================
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%% Cross-view association
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%% =========================
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subgraph ASSOC["Cross-view data association (epipolar)"]
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direction TB
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EPI["Epipolar constraint\n(Sampson / point-to-epiline)"]:::core
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CYCLE["Cycle consistency / view-graph pruning"]:::core
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GROUP["Assemble per-target multi-view observation set\n{view_id → 133×2}"]:::core
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EPI --> CYCLE --> GROUP
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end
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T1 --> EPI
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T2 --> EPI
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T3 --> EPI
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T4 --> EPI
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%% =========================
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%% Geometry / lifting
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%% =========================
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subgraph GEOM["3D measurement construction"]
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direction TB
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RT["Camera models\nK, [R|t], SO(3)/SE(3)"]:::meta
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DLT["DLT / triangulation (init)"]:::core
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NN["Optional NN lifting / completion"]:::core
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BA["Optional reprojection refinement\n(1–5 iters)"]:::core
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Y["3D measurement y(t)\nJ×3 positions (+quality / R / cov)"]:::out
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RT --> DLT --> NN --> BA --> Y
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end
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GROUP --> DLT
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%% =========================
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%% Tracking filter + lifecycle
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%% =========================
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subgraph FILTER["Tracking filter (per target)"]
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direction TB
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GATE["Gating\n(Mahalanobis / per-joint + global)"]:::core
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IMM["IMM (motion model bank)\n(CV/CA or low/med/high Q)"]:::core
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PRED["Predict\nΔt, self-propagate"]:::core
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UPD["Update\nKF (linear)\nstate: [p(3J), v(3J)]"]:::core
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MISS["Miss handling & track lifecycle\n(tentative → confirmed → deleted)"]:::meta
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GATE --> IMM --> PRED --> UPD --> MISS
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end
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Y --> GATE
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%% Optional inertial fusion
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IMU["IMU (optional)"]:::meta --> INERT["EKF/UKF branch (optional)\nwhen augmenting state with orientation"]:::meta --> IMM
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%% =========================
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%% IK + optional feedback
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%% =========================
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subgraph IKSTAGE["IK stage (constraint / anatomy)"]
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direction TB
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IK["IK optimization target\n(minimize joint position error,\nadd bone length / joint limits)"]:::core
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FB["Optional feedback to filter\npseudo-measurement z_IK with large R"]:::meta
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IK --> FB
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end
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UPD --> IK
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FB -.-> GATE
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%% =========================
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%% SMPL / mesh fitting
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%% =========================
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subgraph SMPLSTAGE["SMPL / SMPL-X fitting"]
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direction TB
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VP["VPoser / pose prior"]:::core
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SMPL["SMPL(θ, β, root)\nfit to joints / reprojection"]:::core
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JR["JR: Joint Regressor\nmesh → joints (loop closure)"]:::core
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OUT["Outputs\nmesh + joints + pose params"]:::out
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VP --> SMPL --> JR --> OUT
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JR -. residual / reproject .-> SMPL
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end
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IK --> SMPL
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classDef core fill:#0b1020,stroke:#5eead4,color:#e5e7eb,stroke-width:1.2px;
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classDef meta fill:#111827,stroke:#93c5fd,color:#e5e7eb,stroke-dasharray: 4 3;
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classDef out fill:#052e2b,stroke:#34d399,color:#ecfeff,stroke-width:1.4px; |