Method and system for re-projecting and combining sensor data for visualization
AssigneeInteraptix Inc.
InventorsDae Hyun Lee, Tyler James Doyle
Life of this patent
Estimating the term…
Abstract
There is provided a system and method of re-projecting and combining sensor data of a scene from a plurality of sensors for visualization. The method including: receiving the sensor data from the plurality of sensors; re-projecting the sensor data from each of the sensors into a new viewpoint; localizing each of the re-projected sensor data; combining the localized re-projected sensor data into a combined image; and outputting the combined image. In a particular case, the receiving and re-projecting can be performed locally at each of the sensors.
Claims7
A non-transitory machine-readable medium storing instructions, which when executed cause a processor to:
- receive sensor data representing a scene from a plurality of sensors, comprising red-green-blue-depth (RGB-D) channel values for each of a plurality of pixels;
- re-project the sensor data from each of the sensors into a new viewpoint by:
- calibrating each of the sensors to determine one or more calibration values for the respective sensor;
- generating a point cloud for the respective sensor by applying the calibration values to the depth D channel values for each pixel;
- and
- applying a matrix representative of the new viewpoint to the point cloud for each sensor;
- localize each of the re-projected sensor data;
- combine the localized re-projected sensor data into a combined image;
- and
- output the combined image.
Dependencies are inferred from the claim text.