Systems and methods for improved surface normal estimation

An apparatus for electronically representing a three dimensional surface for an object, comprising:

• an electronic hardware processor;
• an electronic hardware memory, storing instructions that when executed, cause the electronic hardware processor to:
• receive a plurality of images of the object, the images representing the object from a plurality of viewpoints;
• derive points on the surface of the object in three dimensional space from each of the plurality of images;
• generate estimates of surface normals at surface points within each of the plurality of images based on the surface points derived from the image;
• generate a point cloud comprising surface points derived from each of the plurality of images;
• and
• generate a representation of the three dimensional surface for the object based on the surface normal estimates and the point cloud.

A computer readable storage medium comprising instructions that when executed cause an electronic hardware processor to perform a method of electronically representing a three dimensional surface for an object, the method comprising:

• receiving a plurality of images of the object, the images representing the object from a plurality of viewpoints;
• deriving points on the surface of the object in three dimensional space from each of the plurality of images;
• generating estimates of surface normals at surface points within each of the plurality of images based on the surface points derived from the image;
• generating a point cloud comprising surface points derived from each of the plurality of images;
• and
• generating a representation of the three dimensional surface for the object based on the surface normal estimates and the point cloud.

A system for three dimensional object reconstruction, comprising:

• a depth sensor;
• an imaging sensor;
• an electronic display;
• an electronic hardware processor;
• an electronic hardware memory, storing instructions that when executed, cause the electronic hardware processor to:
• receive a plurality of images of a three dimensional object from the imaging sensor, the images representing the three dimensional object from a plurality of viewpoints;
• derive points on the surface of the three dimensional object in three dimensional space from each of the plurality of images and based on input from the depth sensor;
• generate estimates of surface normals at surface points within each of the plurality of images based on the surface points derived from the image;
• generate a point cloud comprising surface points derived from each of the plurality of images;
• generate a representation of the three dimensional surface for the object based on the surface normal estimates and the point cloud;
• and
• display the representation on the electronic display.