15.64 14.3.17 Pipeline de doce etapas
| Etapa | ID | Acción |
|---|---|---|
| 1 | SYNC |
Synchronize RGB, depth, pose, scene, IMU and force sensors in a common monotonic timeline. |
| 2 | REGION_GEOMETRY |
Build body contact regions and propagate pose/mesh covariance. |
| 3 | PAIR_CANDIDATES |
Generate body-region to SurfacePatch candidates using 2D and 3D gates. |
| 4 | TEMPORAL_STATE |
Estimate contact-state probabilities with hysteresis and occlusion-aware filtering. |
| 5 | DIRECT_SENSOR_INGEST |
Transform calibrated forces and moments into the declared canonical frame. |
| 6 | KINEMATIC_EFFECT |
Measure changes in CoM, segment velocity, rotation and other-contact unloading. |
| 7 | FUNCTIONAL_CONTACT |
Classify touch versus functional/load-bearing contact. |
| 8 | DYNAMICS_SOLVE |
Estimate feasible force distributions and residuals when metric inputs permit. |
| 9 | ROLE_INFERENCE |
Infer support, traction, hook, press, smear, transient catch or unknown role. |
| 10 | EPISODE_BUILD |
Create onset, loading, peak, unloading and release events. |
| 11 | GRAPH_BUILD |
Construct the temporal contact graph and load-transfer events. |
| 12 | QUALITY_GATE |
Publish measured, estimated, ordinal or unknown outputs according to quality policy. |
La diferenciación temporal de posición amplifica ruido. Antes de utilizar aceleración se requiere smoothing con retardo y parámetros registrados; el procesamiento offline permite contexto bidireccional sin afirmar causalidad en tiempo real.