Augmented virtual environments

An augmented virtual environment system comprising:

• a model construction component that generates a three dimensional model of an environment from range sensor information representing a height field for the environment;
• a dynamic fusion imagery projection component that projects real-time video imagery information from at least one image sensor onto the three dimensional model based on orientation information of the at least one image sensor tracked in the environment with respect to the three dimensional model in real-time;
• and
• a visualization sub-system that visualizes the three dimensional model with the projected real-time video imagery.

A method comprising:

• obtaining a three dimensional model of an environment;
• identifying in real time a region in motion with respect to a background image in real-time video imagery information from at least one image sensor having associated position and orientation information with respect to the three dimensional model, the background image comprising a single distribution background dynamically modeled from a time average of the real-time video imagery information;
• placing a surface that corresponds to the moving region in the three dimensional model;
• projecting the real-time video imagery information onto the three dimensional model, including the surface, based on the position and orientation information;
• and
• visualizing the three dimensional model with the projected real-time video imagery.

An augmented virtual environment system comprising:

• an object detection and tracking component that identifies in real time a region in motion with respect to a background image in real-time video imagery information from at least one image sensor having associated position and orientation information with respect to a three dimensional model, the background image comprising a single distribution background dynamically modeled from a time average of the real-time video imagery information, and places a surface that corresponds to the moving region with respect to the three dimensional model;
• a dynamic fusion imagery projection component that projects the real-time video imagery information onto the three dimensional model, including the surface, based on the position and orientation information;
• and
• a visualization sub-system that visualizes the three dimensional model with the projected real-time video imagery.

A machine-readable medium embodying information indicative of instructions for causing one or more machines to perform operations comprising:

• generating a three dimensional model of an environment from range sensor information representing a height field for the environment;
• tracking orientation information of at least one image sensor in the environment with respect to the three dimensional model in real-time;
• projecting real-time video imagery information from the at least one image sensor onto the three dimensional model based on the tracked orientation information;
• and
• visualizing the three dimensional model with the projected real-time video imagery.

A machine-readable medium embodying information indicative of instructions for causing one or more machines to perform operations comprising:

• obtaining a three dimensional model of an environment;
• identifying in real time a region in motion with respect to a background image in real-time video imagery information from at least one image sensor having associated position and orientation information with respect to the three dimensional model, the background image comprising a single distribution background dynamically modeled from a time average of the real-time video imagery information;
• placing a surface that corresponds to the moving region in the three dimensional model;
• projecting the real-time video imagery information onto the three dimensional model, including the surface, based on the position and orientation information;
• and
• visualizing the three dimensional model with the projected real-time video imagery.