3d registration of a plurality of 3d models
AssigneeMantisvision Ltd.
InventorsVadim Kosoy, Dani Daniel, Yotam Livny
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Abstract
A technique for 3D registration of three or more 3D models using parallel computing. The technique treats the pairwise 3D registration problem as an atomic sub-problem, and solves in parallel a plurality of pairwise 3D registration. The initial guess for the pairwise 3D registration is calculated based on the, possibly incomplete, information available at the moment the calculation is made. At each point the available pairwise transformations are examined based on current available information. Transformations that are identified as outliers or as inaccurate are marked for repeated pairwise 3D registration when additional information relevant for the calculation of the initial guess becomes available.
Claims60
A method, comprising:
- obtaining a plurality of 3D models;
- responsive to an instruction to perform 3D registration of the plurality of 3D models:
- performing on each one of a plurality of computing units at least one of a plurality of computational tasks associated with the 3D registration of the plurality of 3D models, wherein each computational task comprises:
- obtaining a 3D-models-subgroup comprising two or more 3D models;
- applying a 3D registration algorithm to the 3D-models-subgroup;
- obtaining a 3D registration result for the 3D-models-subgroup;
- and combine the plurality of 3D registration results to thereby obtain a global 3D registration result of the plurality of 3D models.
A method, comprising:
- obtaining a plurality of 3D models;
- obtaining 3D models sequence data relating to a sequence of the plurality of 3D models;
- responsive to an instruction to perform 3D registration of the plurality of 3D models:
- performing on each one of a plurality of computing units at least one of a plurality of computational tasks associated with the 3D registration of the plurality of 3D models, wherein each computational task comprises:
- obtaining a 3D-models-subgroup comprising two or more sequential 3D models according to the 3D models sequence data;
- applying a 3D registration algorithm to the 3D-models-subgroup;
- obtaining a 3D registration result for the 3D-models-subgroup;
- determine a quality of 3D registration of at least one 3D-models-subgroup based on 3D registration results of at least one 3D-models-subgroup.
A method, comprising:
- obtaining a plurality of 3D models;
- applying a parallel 3D registration algorithm to the plurality of 3D models;
- obtaining an additional at least one 3D model;
- obtaining a 3D-models-subgroup comprising the at least one additional 3D model and one or more 3D models of the plurality of 3D models;
- applying a 3D registration algorithm to the 3D-models-subgroup;
- obtaining a 3D registration result for the 3D-models-subgroup.
An apparatus, comprising:
- at least one 3D camera, configured to capture a plurality of 3D models;
- a plurality of computing units, each configured to:
- obtain a 3D-models-subgroup comprising two or more 3D models;
- apply a 3D registration algorithm to the 3D-models-subgroup;
- obtain a 3D registration result for the 3D-models-subgroup;
- an additional computing unit configured to combine the plurality of 3D registration results to thereby obtain a global 3D registration result of the plurality of 3D models.
An apparatus, comprising:
- a 3D camera, configured to capture a plurality of 3D models in a sequence, therefore defining a 3D models sequence data;
- a plurality of computing units, each configured to:
- obtain a 3D-models-subgroup comprising two or more sequential 3D models according to the 3D models sequence data;
- apply a 3D registration algorithm to the 3D-models-subgroup;
- obtain a 3D registration result for the 3D-models-subgroup;
- an additional computing unit configured to determine a quality of 3D registration of at least one 3D-models-subgroup based on 3D registration results of at least one 3D-models-subgroup.
An apparatus, comprising:
- a 3D camera, configured to capture a plurality of 3D models;
- at least one processor capable of parallel processing, configured to:
- apply a parallel 3D registration algorithm to the plurality of 3D models;
- wherein the 3D camera is further configured to capture an additional at least one 3D model;
- wherein the at least one processor is further configured to:
- obtain a 3D-models-subgroup comprising the at least one additional 3D model and one or more 3D models of the plurality of 3D models;
- apply a 3D registration algorithm to the 3D-models-subgroup;
- obtain a 3D registration result for the 3D-models-subgroup.
Dependencies are inferred from the claim text.