# US 12,003,695 B2 · Self-organizing rolling shutter camera arrays for low-cost, accurate volumetric capture workflows > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,003,695 B2 - Document ID: US12003695B2 - Status: Granted - Kind: B2 - Application number: 17/901,731 - Filed: 2022-09-01 - Published: 2024-03-07 - Granted: 2024-06-04 - Earliest claimed: 2022-09-01 - Assignees: Sony Group Corporation - Applicants: Sony Group Corporation - Inventors: Luis Vanconcelos; Nikolaos Georgis - Web page: https://patentgrep.com/patent/US12003695B2 ## CPC - G06V 10/46: Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features (colour feature extraction G06V10/56) - H04N 13/282: for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems - G06V 10/443: {by matching or filtering} - G06V 10/75: Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries - G06V 20/17: taken from planes or by drones - G06V 20/50: Context or environment of the image - G06V 20/64: Three-dimensional [3D] objects - H04N 23/633: {for displaying additional information relating to control or operation of the camera} - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract An apparatus includes one or more processors and logic encoded in one or more non-transitory media for execution by the one or more processors and when executed operable to receive images from a set of cameras that are positioned in a plurality of levels around one or more objects, wherein the set of cameras are positioned at a same orientation and each image is captured by a rolling shutter and associated with a position and orientation of a corresponding camera from the set of cameras. The logic is further operable to, for each level of cameras generate a three-dimensional pointcloud based on the position and orientation of corresponding cameras and matched extracted features. The logic is further operable to merge the three-dimensional pointcloud for each level of the cameras to form a three-dimensional volumetric model of one or more objects. ## Claims ### Claim 1 A computer-implemented method comprising: receiving images from a set of cameras that are positioned in a plurality of levels around one or more objects, wherein the set of cameras are positioned at a same orientation and each image is captured by a rolling shutter and associated with a position and orientation of a corresponding camera from the set of cameras; for each level of cameras: performing feature extraction on a subset of the images corresponding to the level to identify features of one or more objects; matching extracted features between the subset of the images; and generating a three-dimensional pointcloud based on the position and orientation of corresponding cameras and matched extracted features; and merging the three-dimensional pointcloud for each level of the cameras to form a three-dimensional volumetric model of one or more objects. ### Claim 2 (depends on 1) The method of claim 1, wherein the same orientation is a landscape orientation and each of the levels forms a cylinder around the one or more objects. ### Claim 3 (depends on 1) The method of claim 1, wherein the same orientation is a portrait orientation and each of the levels forms a column. ### Claim 4 (depends on 1) The method of claim 1, wherein one or more of the cameras in the set of cameras are part of a drone. ### Claim 5 (depends on 1) The method of claim 1, further comprising: determining that a camera in the set of cameras is not positioned or orientated to capture images that are colinear with the subset of the images corresponding to the level. ### Claim 6 (depends on 1) The method of claim 1, further comprising: generating graphical data for displaying a user interface that provides instructions for how to position a camera from the set of cameras. ### Claim 7 (depends on 6) The method of claim 6, wherein the instructions are based on achieving a particular position and a particular orientation of the camera. ### Claim 8 An apparatus comprising: one or more processors; and logic encoded in one or more non-transitory media for execution by the one or more processors and when executed operable to: receive images from a set of cameras that are positioned in a plurality of levels around one or more objects, wherein the set of cameras are positioned at a same orientation and each image is captured by a rolling shutter and associated with a position and orientation of a corresponding camera from the set of cameras; for each level of cameras: perform feature extraction on a subset of the images corresponding to the level to identify features of one or more objects; match extracted features between the subset of the images; and generate a three-dimensional pointcloud based on the position and orientation of corresponding cameras and matched extracted features; and merge the three-dimensional pointcloud for each level of the cameras to form a three-dimensional volumetric model of one or more objects. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein the same orientation is a landscape orientation and each of the levels forms a cylinder around the one or more objects. ### Claim 10 (depends on 8) The apparatus of claim 8, wherein the same orientation is a portrait orientation and each of the levels forms a column. ### Claim 11 (depends on 8) The apparatus of claim 8, wherein one or more of the cameras in the set of cameras are part of a drone. ### Claim 12 (depends on 8) The apparatus of claim 8, wherein the logic when executed is further operable to: determine that a camera in the set of cameras is not positioned or orientated to capture images that are colinear with the subset of the images corresponding to the level. ### Claim 13 (depends on 8) The apparatus of claim 8, wherein the logic when executed is further operable to: generate graphical data for displaying a user interface that provides instructions for how to position a camera from the set of cameras. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein the instructions are based on achieving a particular position and a particular orientation of the camera. ### Claim 15 Software encoded in one or more computer-readable media for execution by the one or more processors and when executed is operable to: receive images from a set of cameras that are positioned in a plurality of levels around one or more objects, wherein the set of cameras are positioned at a same orientation and each image is captured by a rolling shutter and associated with a position and orientation of a corresponding camera from the set of cameras; for each level of cameras: perform feature extraction on a subset of the images corresponding to the level to identify features of one or more objects; match extracted features between the subset of the images; and generate a three-dimensional pointcloud based on the position and orientation of corresponding cameras and matched extracted features; and merge the three-dimensional pointcloud for each level of the cameras to form a three-dimensional volumetric model of one or more objects. ### Claim 16 (depends on 15) The software of claim 15, wherein the same orientation is a landscape orientation and each of the levels forms a cylinder around the one or more objects. ### Claim 17 (depends on 15) The software of claim 15, wherein the same orientation is a portrait orientation and each of the levels forms a column. ### Claim 18 (depends on 15) The software of claim 15, wherein one or more of the cameras in the set of cameras are part of a drone. ### Claim 19 (depends on 15) The software of claim 15, wherein the one or more processors are further operable to: determine that a camera in the set of cameras is not positioned or orientated to capture images that are colinear with the subset of the images corresponding to the level. ### Claim 20 (depends on 15) The software of claim 15, wherein the one or more processors are further operable to: generate graphical data for displaying a user interface that provides instructions for how to position a camera from the set of cameras.