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US 11,443,474 B2Granted
Generation of texture models using a moveable scanner
AssigneeArtec Europe S.à R.L.
InventorAnton Bosneaga
Life of this patent
Estimating the term…
Abstract
A method is performed at a moveable scanner with one or more optical sensors. The method includes scanning, using the moveable scanner, an object having a surface. The scanning generates color data from a plurality of orientations of the moveable scanner with respect to the object. The method further includes generating, using at least the color data, a pixel map of the surface of the object, the pixel map including, for each respective pixel of a plurality of pixels: a color value of a corresponding point on the surface of the object; and a value for a non-color property of the corresponding point on the surface of the object.
Claims26
A method, comprising:
- scanning, using a three-dimensional (3D) scanner with one or more optical sensors, an object having a surface, wherein the scanning generates:
- color data from a plurality of orientations of the 3D scanner with respect to the object;
- and
- data corresponding to a three-dimensional (3D) shape of at least a portion of the surface of the object;
- generating, using the data corresponding to the three-dimensional (3D) shape of the at least portion of the surface of the object, a 3D reconstruction of the shape of the at least portion of the surface of the object, wherein the 3D reconstruction comprises a plurality of pixels;
- for each pixel of the plurality of pixels, determining a true normal direction;
- generating, using at least the color data, a pixel map of the surface of the object, the pixel map including, for each respective pixel of a plurality of pixels:
- a color value of a corresponding point on the surface of the object, wherein, for each respective pixel of the plurality of pixels of the pixel map, the color value is determined using color data from a predefined range of angles relative to the true normal direction for the respective pixel and wherein the predefined range of angles is a range of angles greater than a diffuse threshold angle;
- and
- a value for a specular property of the corresponding point on the surface of the object, wherein the value for the specular property of the corresponding point on the surface of the object is determined using the true normal direction for the corresponding point on the surface of the object, wherein the value of the specular property is determined using color data obtained at angles relative to the true normal direction that are less than the diffuse angle threshold.
7 more elements
A method, comprising:
- scanning, using a three-dimensional (3D) scanner with one or more cameras, an object having a surface, wherein the scanning generates:
- color data from a plurality of orientations of the 3D scanner with respect to the object, wherein generating the color data from the plurality of orientations of the 3D scanner with respect to the object includes acquiring, with the one or more cameras positioned at each of the plurality of orientations with respect to the object, an image of the surface of the object;
- and
- data corresponding to a three-dimensional (3D) shape of at least a portion of the surface of the object, wherein generating the data corresponding to the three-dimensional (3D) shape of the at least portion of the surface of the object includes repeatedly performing the operations of:
- projecting a spatial pattern of light onto the surface of the object;
- and
- while the spatial pattern of light is projected onto the surface of the object, acquiring, using the one or more cameras, an image of the surface of the object;
- generating, using the data corresponding to the three-dimensional (3D) shape of the at least portion of the surface of the object, a 3D reconstruction of the shape of the at least portion of the surface of the object;
- generating a pixel map of the surface of the object, the pixel map including, for each respective pixel of a plurality of pixels:
- a value for a non-color property of a corresponding point on the surface of the object;
- a color value of the corresponding point on the surface of the object, wherein the color value is generated using the color data and corrected according to the value of the non-color property of the corresponding point on the surface of the object;
- wherein:
- for each pixel of the plurality of pixels of the pixel map, the value for the non-color property of the corresponding point on the surface of the object is determined by:
- providing, to a solver for a set of one or more texture equations, the images of the surface of the object together with information indicating the orientations of the 3D scanner with respect to the object at which the images were obtained;
- and
- receiving, as an output from the solver for the set of one or more texture equations, the value for the non-color property of the corresponding point on the surface of the object.
13 more elements
Dependencies are inferred from the claim text.