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US 10,762,698 B2Granted
Automated spatial indexing of images based on floorplan features
AssigneeOpen Space Labs, Inc.
InventorsMichael Ben Fleischman, Philip DeCamp, Jeevan Kalanithi, Thomas Friel Allen
Life of this patent
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Abstract
A spatial indexing system receives a sequence of images depicting an environment, such as a floor of a construction site, and performs a spatial indexing process to automatically identify the spatial locations at which each of the images were captured. The spatial indexing system also generates an immersive model of the environment and provides a visualization interface that allows a user to view each of the images at its corresponding location within the model.
Claims20
A method comprising:
- receiving a sequence of images from an image capture system, the sequence of images captured by a camera of the image capture system as the image capture system is moved along a camera path through an environment;
- generating a first estimate of the camera path, the first estimate of the camera path specifying, for images in the sequence of images, a position of the image relative to a reference point;
- obtaining a floorplan of the environment, the floorplan specifying positions of a plurality of physical features in the environment;
- generating a combined estimate of the camera path based on the first estimate of the camera path and the positions of the plurality of physical features specified in the floorplan at least in part by generating a grid map based on the floorplan, the grid map comprising a plurality of nodes and edges, each of the edges connecting a first node and a second node of the plurality of nodes;
- and
- automatically generating an immersive model of the environment based on the combined estimate of the camera path and received sequence of images, the immersive model specifying, for each image of a plurality of the images, a location of the image within the floorplan and at least one route vector defining a spatial distance between the image and at least one of the other images of the plurality of images.
3 more elements
A method comprising:
- receiving a sequence of images from an image capture system, the sequence of images captured by a camera of the image capture system as the image capture system is moved along a camera path through an environment;
- generating a first estimate of the camera path, the first estimate of the camera path specifying, for images in the sequence of images, a position of the image relative to a reference point;
- obtaining a floorplan of the environment, the floorplan specifying positions of a plurality of physical features in the environment;
- scaling the first estimate of the camera path to align with the positions of the plurality of physical features specified in the floorplan;
- and
- automatically generating an immersive model of the environment based on the scaled first estimate of the camera path and received sequence of images.
3 more elements
A method comprising:
- receiving a sequence of images from an image capture system, the sequence of images captured by a camera of the image capture system as the image capture system is moved along a camera path through an environment;
- generating a first estimate of the camera path, the first estimate of the camera path specifying, for images in the sequence of images, a position of the image relative to a reference point;
- obtaining a floorplan of the environment, the floorplan specifying positions of a plurality of physical features in the environment;
- generating a plurality of candidate estimates of the camera path, the candidate estimates of the camera path generated by performing one or more of a scaling operation, a rotating operation, and a translation operation on the first estimate of the camera path;
- generating a consistency score for each of the candidate estimates of the camera path, the consistency score representing the degree of consistency between the candidate estimate of the camera path and the physical features in the floorplan;
- determining the combined estimate of the camera path by selecting the candidate estimate of the camera path with the highest consistency score;
- and
- automatically generating an immersive model of the environment based on the estimate of the camera path and received sequence of images.
5 more elements
Dependencies are inferred from the claim text.