Systems and methods for scanning three-dimensional objects

A method for computing a three-dimensional (3D) model of an object, the method comprising:

• receiving, by a processor, a first chunk comprising a 3D model of a first portion of the object, the first chunk being generated from a plurality of depth images of the first portion of the object;
• receiving, by the processor, a second chunk comprising a 3D model of a second portion the object, the second chunk being generated from a plurality of depth images of the second portion of the object;
• computing, by the processor, a registration of the first chunk with the second chunk, the registration corresponding to a transformation aligning corresponding portions of the first and second chunks, the computing the registration of the first chunk with the second chunk comprising:
• extracting, by the processor, first key points from color textures of a first surface of the first chunk;
• extracting, by the processor, second key points from color textures of a second surface of the second chunk;
• and
• computing a rigid transformation from the second key points to the first key points;
• aligning, by the processor, the first chunk with the second chunk in accordance with the registration;
• and
• outputting, by the processor, a 3D model corresponding to the first chunk merged with the second chunk,
• wherein the computing the registration of the first chunk with the second chunk further comprises:
• receiving a user supplied transformation of the first chunk, the user supplied transformation comprising at least one transformation of the group comprising:
• a rotation;
• a translation;
• and
• a zoom;
• and
• applying the user supplied transformation to the first chunk.

A method for computing a three-dimensional (3D) model of an object, the method comprising:

• receiving, by a processor, a first chunk comprising a 3D model of a first portion of the object, the first chunk being generated from a plurality of depth images of the first portion of the object;
• receiving, by the processor, a second chunk comprising a 3D model of a second portion the object, the second chunk being generated from a plurality of depth images of the second portion of the object;
• computing, by the processor, a registration of the first chunk with the second chunk, the registration corresponding to a transformation aligning corresponding portions of the first and second chunks;
• aligning, by the processor, the first chunk with the second chunk in accordance with the registration;
• outputting, by the processor, a 3D model corresponding to the first chunk merged with the second chunk;
• detecting portions of the depth images of the second portion of the object corresponding to human hands;
• removing the portions of the depth images corresponding to the human hands;
• and
• generating the second chunk from the depth images with the portions corresponding to human hands removed from the depth images.

A system for generating a three-dimensional (3D) scan of an object, the system comprising:

• a depth camera system comprising a sensor;
• a display device;
• a processor coupled to depth camera system and the display device;
• and
• memory storing instructions that, when executed by the processor, cause the processor to:
• control the depth camera system to capture a first plurality of depth images;
• compute a first chunk comprising a 3D model of a first portion of the object generated from the first plurality of depth images;
• control the depth camera system to capture a second plurality of depth images;
• compute a second chunk comprising a 3D model of a second portion of the object generated from the second plurality of depth images;
• compute a registration of the first chunk with the second chunk, the registration corresponding to a transformation aligning corresponding portions of the first and second chunks by:
• extracting, by the processor, first key points from color textures of a first surface of the first chunk;
• extracting, by the processor, second key points from color textures of a second surface of the second chunk;
• and
• computing a rigid transformation from the second key points to the first key points;
• align the first chunk with the second chunk in accordance with the registration;
• and
• display, on the display device, a 3D model corresponding to the first chunk merged with the second chunk.

A system for generating a three-dimensional (3D) scan of an object, the system comprising:

• a depth camera system comprising a sensor;
• a display device;
• a processor coupled to depth camera system and the display device;
• and
• memory storing instructions that, when executed by the processor, cause the processor to:
• control the depth camera system to capture a first plurality of depth images;
• compute a first chunk comprising a 3D model of a first portion of the object generated from the first plurality of depth images;
• control the depth camera system to capture a second plurality of depth images;
• compute a second chunk comprising a 3D model of a second portion of the object generated from the second plurality of depth images;
• receive a user supplied transformation of the first chunk, the user supplied transformation comprising at least one transformation of the group comprising:
• a rotation;
• a translation;
• and
• a zoom;
• and
• apply the user supplied transformation to the first chunk;
• compute a registration of the first chunk with the second chunk, the registration corresponding to a transformation aligning corresponding portions of the first and second chunks, wherein the instructions to compute the registration of the first chunk with the second chunk comprise instructions that, when executed by the processor, cause the processor to:
• extract first key points from color textures of a first surface of the first chunk;
• extract second key points from color textures of a second surface of the second chunk;
• and
• compute a rigid transformation from the second key points to the first key points;
• align the first chunk with the second chunk in accordance with the registration;
• and
• display, on the display device, a 3D model corresponding to the first chunk merged with the second chunk.

A system for generating a three-dimensional (3D) scan of an object, the system comprising:

• a depth camera system comprising a sensor;
• a display device;
• a processor coupled to depth camera system and the display device;
• and
• memory storing instructions that, when executed by the processor, cause the processor to:
• control the depth camera system to capture a first plurality of depth images;
• compute a first chunk comprising a 3D model of a first portion of the object generated from the first plurality of depth images;
• control the depth camera system to capture a second plurality of depth images;
• compute a second chunk comprising a 3D model of a second portion of the object generated from the second plurality of depth images;
• compute a registration of the first chunk with the second chunk, the registration corresponding to a transformation aligning corresponding portions of the first and second chunks;
• align the first chunk with the second chunk in accordance with the registration;
• display, on the display device, a 3D model corresponding to the first chunk merged with the second chunk
• detect portions of the depth images of the second portion of the object corresponding to human hands;
• remove the portions of the depth images corresponding to the human hands;
• and
• generate the second chunk from the depth images with the portions corresponding to human hands removed from the depth images.

A method for assembling a plurality of chunks corresponding to separate three-dimensional (3D) models of different portions of an object, the chunks being displayed in a graphical user interface, the method comprising:

• receiving, by a processor, a selection of a first chunk of the plurality of chunks, the first chunk comprising a 3D model of a first portion of the object;
• receiving, by the processor, a selection of a second chunk of the plurality of chunks, the second chunk comprising a 3D model of a second portion of the object;
• computing, by the processor, a registration of the first chunk with the second chunk, the registration corresponding to a transformation aligning corresponding portions of the first and second chunks, the computing the registration of the first chunk with the second chunk comprising:
• extracting, by the processor, first key points from color textures of a first surface of the first chunk;
• extracting, by the processor, second key points from color textures of a second surface of the second chunk;
• and
• computing a rigid transformation from the second key points to the first key points;
• aligning, by the processor, the first chunk with the second chunk in accordance with the registration;
• and
• displaying, by the processor, the first chunk assembled with the second chunk as a chunk assembly.