US 10,242,458 B2 · Registration of range images using virtual gimbal information

Abstract

Systems and methods configured to generate virtual gimbal information for range images produced from 3D depth scans are described. In operation according to embodiments, known and advantageous spatial geometries of features of a scanned volume are exploited to generate virtual gimbal information for a pose. The virtual gimbal information of embodiments may be used to align a range image of the pose with one or more other range images for the scanned volume, such as for combining the range images for use in indoor mapping, gesture recognition, object scanning, etc. Implementations of range image registration using virtual gimbal information provide a realtime one shot direct pose estimator by detecting and estimating the normal vectors for surfaces of features between successive scans which effectively imparts a coordinate system for each scan with an orthogonal set of gimbal axes and defines the relative camera attitude.

Claims26

Dependent claims

A method for determining a common coordinate system for registration of a plurality of range images, the method comprising:

identifying, by a processor-based platform configured for processing images, a feature present in a range image of the plurality of range images;
deconstructing, by the processor-based platform, the feature present in the range image into virtual gimbal information for the range image using estimates of two or more orthogonal axes for the feature present in the range image, wherein the virtual gimbal information defines the common coordinate system for the plurality of range images for registration of the range image with a second range image of the plurality of range images from a different pose than the range image;
identifying, by the processor-based platform, the feature present in the second range image of the plurality of range images;
deconstructing, by the processor-based platform, the feature present in the second range image into second virtual gimbal information for the second range image using estimates of two or more orthogonal axes for the feature present in the second range image, wherein the second virtual gimbal information defines a coordinate system for the second range image for translation of the second range image to the common coordinate system;
and
registering, by the processor-based platform, one of the range image or the second range image to the other one of the second range image or the range image based upon the common coordinate system.

3 more elements

A non-transitory computer-readable medium having program code recorded thereon for determining a common coordinate system for registration of a plurality of range images, the program code comprising:

program code executable by a computer for causing the computer to:
identify a feature present in a range image of the plurality of range images;
and
deconstruct the feature present in the range image into virtual gimbal information for the range image using estimates of two or more orthogonal axes for the feature present in the range image, wherein the virtual gimbal information defines the common coordinate system for the plurality of range images for registration of the range image with a second range image of the plurality of range images from a different pose than the range image;
identify the feature present in the second range image of the plurality of range images;
deconstruct the feature present in the second range image into second virtual gimbal information for the second range image using estimates of two or more orthogonal axes for the feature present in the second range image, wherein the second virtual gimbal information defines a coordinate system for the second range image for translation of the second range image to the common coordinate system;
and
register one of the range image or the second range image to the other one of the second range image or the range image based upon the common coordinate system.

5 more elements

An apparatus for determining a common coordinate system for registration of a plurality of range images, the apparatus comprising:

means for identifying, by a processor-based platform configured for processing images, a feature present in a range image of the plurality of range images;
and
means for deconstructing, by the processor-based platform, the feature present in the range image into virtual gimbal information for the range image using estimates of two or more orthogonal axes for the feature present in the range image, wherein the virtual gimbal information defines the common coordinate system for the range image with a second range image of the plurality of range images from a different pose than the range image;
means for identifying, by the processor-based platform, the feature present in the second range image of the plurality of range images;
means for deconstructing, by the processor-based platform, the feature present in the second range image into second virtual gimbal information for the second range image using estimates of two or more orthogonal axes for the feature present in the second range image, wherein the second virtual gimbal information defines a coordinate system for the second range image for translation of the second range image to the common coordinate system;
and
means for registering, by the processor-based platform, one of the range image or the second range image to the other one of the second range image or the range image based upon the common coordinate system.

4 more elements

Dependencies are inferred from the claim text.

Registration of range images using virtual gimbal information

Life of this patent

Registration of range images using virtual gimbal information

Life of this patent

Abstract

Claims26