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Abstract

In one aspect, a computerized method for implementing a multi-pass iterative closest point (ICP) registration in an automated facial reconstruction process includes the step of providing an automated facial reconstruction process. The method includes the step of detecting that a face tracking application programming interface (API) misalignment has occurred during the automated facial reconstruction process. The method includes the step of implementing a multi-pass ICP process on the face tracking API misalignment by the following steps. One step includes obtaining a first point cloud (PC1) of the automated facial reconstruction process. The method includes the step of obtaining a second point cloud (PC2) of the automated facial reconstruction process. The method includes the step of obtaining a first face mask (mask1) of the automated facial reconstruction process. The method includes the step of obtaining a second face mask (mask2) of the automated facial reconstruction process. The method includes the step of performing a first point cloud (PC1)-to-mask ICP operation by inputting and utilizing PC1 and mask1. A transformation output of the first PC-to-mask ICP operation is provided to a third PC-to-PC ICP and a fourth PC-to-PC ICP. The method includes the step of performing a second PC-to-mask ICP on PC2 and mask2. A transformation output of the second PC-to-mask ICP step is provided to a second PC-to-PC ICP and to the third PC-to-PC ICP. The method includes the step of performing a first PC-to-PC ICP on the PC1 and the PC2. The first PC-to-PC ICP outputs a first transformation of the first PC-to-PC ICP and a first error value of the first PC-to-PC ICP. The method includes the step of performing a second PC-to-PC ICP on the transformation output by the second PC-to-mask ICP and the PC1. The second PC-to-PC ICP outputs a second transformation of the second PC-to-PC ICP and a second error value of the second PC-to-PC ICP. The method includes the step of performing a third PC-to-PC ICP on the transformation output of the first PC-to-mask ICP and the transformation output of the second PC-to-mask ICP. The third PC-to-PC ICP outputs a third transformation of the third PC-to-PC ICP and a third error value of the third PC-to-PC ICP. The method includes the step of performing a fourth PC-to-PC ICP on the transformation output of the first PC-to-mask ICP and the PC2. The fourth PC-to-PC ICP outputs a fourth transformation of the fourth PC-to-PC ICP and a fourth error value of the fourth PC-to-PC ICP.

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