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US 11,386,616 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.
Claims16
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 generated by generating a plurality of camera path segments, the first estimate of the camera path specifying, for images in the sequence of images, a position of the image;
- scaling the first estimate of the camera path by aligning each camera path segment with the floorplan, wherein aligning each camera path segment with the floorplan comprises generating a plurality of candidate camera paths by performing a scaling operation or a rotation operation on the camera path segment, generating a consistency score for each candidate camera path representing a consistency between the candidate camera path and physical features in a floorplan of the environment, and selecting the candidate camera path having the highest consistency score;
- and
- automatically generating an immersive model of the environment based on the scaled first estimate of the camera path and received sequence of images.
2 more elements
A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform steps 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 generated by generating a plurality of camera path segments, the first estimate of the camera path specifying, for images in the sequence of images, a position of the image;
- scaling the first estimate of the camera path by aligning each camera path segment with the floorplan, wherein aligning each camera path segment with the floorplan comprises generating a plurality of candidate camera paths by performing a scaling operation or a rotation operation on the camera path segment, generating a consistency score for each candidate camera path representing a consistency between the candidate camera path and physical features in a floorplan of the environment, and selecting the candidate camera path having the highest consistency score;
- and
- automatically generating an immersive model of the environment based on the scaled first estimate of the camera path and received sequence of images.
2 more elements
A computing system comprising:
- a processor;
- a non-transitory computer-readable storage medium storing instructions that, when executed by the processor, cause the processor to perform steps 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 generated by generating a plurality of camera path segments, the first estimate of the camera path specifying, for images in the sequence of images, a position of the image;
- scaling the first estimate of the camera path by aligning each camera path segment with the floorplan, wherein aligning each camera path segment with the floorplan comprises generating a plurality of candidate camera paths by performing a scaling operation or a rotation operation on the camera path segment, generating a consistency score for each candidate camera path representing a consistency between the candidate camera path and physical features in a floorplan of the environment, and selecting the candidate camera path having the highest consistency score;
- and
- automatically generating an immersive model of the environment based on the scaled first estimate of the camera path and received sequence of images.
4 more elements
Dependencies are inferred from the claim text.