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US 2016/0260250 A1Published application
Method and system for 3d capture based on structure from motion with pose detection tool
OwnerDejan JOVANOVIC, Keith Beardmore +3inventors
InventorsDejan JOVANOVIC, Keith Beardmore, Kari Myllykoski, James H. Grotelueschen, Mark O. Freeman
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Abstract
Method and System for 3D capture based on SFM with simplified pose detection is disclosed. This invention provides a straightforward method to directly track the camera's motion (pose detection) thereby removing a substantial portion of the computing load needed to build the 3D model from a sequence of images.
Claims20
A 3D modeling capture device comprising
- a camera which captures a sequence of images from a sequence of poses relative to the scene or objects being mapped
- an IMU (inertial measurement unit) engine fixed to the camera which tracks the orientation of the camera about multiple axes
- a laser rangefinder fixed to the camera which determines the distance from the camera to a point in each image in the sequence of images
- a pose engine which determines the orientation and position of the camera from the output of the IMU and the laser rangefinder;
- a SFM (Structure from Motion) engine which tracks the relative movement of features in a scene from one image to another image and generates a structural model of the scene;
- a mapping engine which combines product from the pose engine with product from the SFM engine to provide dimensionally correct 3D map output of the scene.
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A 3D mapping device comprising
- a camera which captures a sequence of images from a sequence of poses relative to the scene or objects being mapped
- a laser rangefinder to determine the distance from at least one feature in the scene
- a pose prediction engine which predicts the pose change of the camera between two scenes
- a pose engine which refines the estimated orientation and position of the camera from the output of the pose prediction engine and information exchange with the SFM engine
- a SFM (Structure From Motion) engine which tracks the relative movement of features in a scene from one image to another image and generates a proportional 3D model of the scene using information from the pose engine;
- a 3D mapping engine which combines product from the pose engine with product from the SFM engine and the laser rangefinder to provide dimensionally correct 3D map output of the scene.
3 more elements
Dependencies are inferred from the claim text.