# US 2016/0364905 A1 · Apparatus and method for generating 3d model > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2016/0364905 A1 - Document ID: US20160364905A1 - Status: Published application - Kind: A1 - Application number: 15/045,594 - Filed: 2016-02-17 - Published: 2016-12-15 - Earliest claimed: 2015-06-15 - Assignees: Electronics and Telecommunications Research Institute - Applicants: Electronics and Telecommunications Research Institute - Inventors: Soon-Chul JUNG; Hyun KANG; Jae-Hean KIM; Young-Mi CHA; Jin-Sung CHOI - Web page: https://patentgrep.com/patent/US20160364905A1 ## CPC - G06T 19/20: Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts - G06T 17/20: Finite element generation, e.g. wire-frame surface description, {tesselation} - G06T 2200/08: involving all processing steps from image acquisition to 3D model generation - G06T 2219/2004: Aligning objects, relative positioning of parts - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract An apparatus and method for generating a 3D model, in which point clouds from a scanner are automatically aligned using marker information, with markers attached to an object. The apparatus includes a point cloud refinement unit for receiving point clouds and marker sets from scanning of an object, refining the point clouds, and transmitting refined point clouds and marker sets, a point cloud alignment unit for inquiring of a point cloud and marker set database about a point cloud group of point cloud pairs and a marker set group of marker set pairs, and aligning the point cloud group, wherein the point cloud pairs and the marker set pairs are acquired by scanning a single object in different directions, and a surface generation unit for generating a 3D model by reconstructing a surface of the object based on the aligned point cloud group. ## Claims ### Claim 1 An apparatus for generating a three-dimensional (3D) model, comprising: a point cloud refinement unit for receiving point clouds and marker sets from scanning of an object, refining the point clouds, and transmitting refined point clouds and the marker sets to a point cloud and marker set database; a point cloud alignment unit for inquiring of the point cloud and marker set database about a point cloud group composed of pairs of point clouds and a marker set group composed of pairs of marker sets, and aligning the point cloud group, wherein the point cloud pairs and the marker set pairs are acquired by scanning a single object in different directions; and a surface generation unit for generating a 3D model by performing surface reconstruction based on the aligned point cloud group. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the point cloud refinement unit is configured to, when an average of distances from each point in a given point cloud to a predetermined number of neighboring points is equal to or greater than a predetermined value, determine the corresponding point to be an outlier, and automatically remove the outlier. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the point cloud refinement unit is configured to, when an outlier that is not automatically removed is present, remove the outlier under selection of a user. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the point cloud alignment unit aligns the point cloud group using the marker set group. ### Claim 5 (depends on 4) The apparatus of claim 4, wherein the point cloud alignment unit aligns the point cloud group using a transformation matrix that is used when coordinate systems of other marker sets in the marker set group are transformed into a coordinate system of a first marker set in the marker set group. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the surface generation unit performs surface reconstruction using an algorithm for generating a 3D polygonal mesh model. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein each point cloud is a set of acquired points, and each point has a unique 3D location. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein each marker set is a set of 3D locations of acquired markers. ### Claim 9 A method for generating a three-dimensional (3D) model, comprising: receiving, by a point cloud refinement unit, point clouds and marker sets from scanning of an object, and refining the point clouds, transmitting, by the point cloud refinement unit, refined point clouds and the marker sets to a point cloud and marker set database; inquiring of, by a point cloud alignment unit, the point cloud and marker set database about a point cloud group composed of pairs of point clouds and a marker set group composed of pairs of marker sets, wherein the point cloud pairs and the marker set pairs are acquired by scanning a single object in different directions; aligning, by the point cloud alignment unit, the point cloud group; and generating, by a surface generation unit, a 3D model by performing surface reconstruction based on the aligned point cloud group. ### Claim 10 (depends on 9) The method of claim 9, wherein refining the point clouds comprises, when an average of distances from each point in a given point cloud to a predetermined number of neighboring points is equal to or greater than a predetermined value, determining the corresponding point to be an outlier, and automatically removing the outlier. ### Claim 11 (depends on 10) The method of claim 10, wherein refining the point clouds comprises, when an outlier that is not automatically removed is present, removing the outlier under selection of a user. ### Claim 12 (depends on 9) The method of claim 9, wherein aligning the point cloud group comprises aligning the point cloud group using the marker set group. ### Claim 13 (depends on 12) The method of claim 12, wherein aligning the point cloud group comprises aligning the point cloud group using a transformation matrix that is used when coordinate systems of other marker sets in the marker set group are transformed into a coordinate system of a first marker set in the marker set group. ### Claim 14 (depends on 9) The method of claim 9, wherein generating the 3D model comprises performing surface reconstruction using an algorithm for generating a 3D polygonal mesh model. ### Claim 15 (depends on 9) The method of claim 9, wherein each point cloud is a set of acquired points, and each point has a unique 3D location. ### Claim 16 The method of claim wherein each marker set is a set of 3D locations of acquired markers.