US 2023/0410340 A1Published application

Device and method for depth measurement of 3d irregular surfaces

AssigneeApplications Mobiles Overview Inc.

InventorsLaurent JUPPE, Sherif Esmat Omar ABUELWAFA, Martin GREGOIRE, Antoine AUSSEDAT, Marie-Eve DESROCHERS, Bryan MARTIN

Life of this patent

Estimating the term…

patentgrep

Loading patent…

Abstract

A device determines a depth value of a 3D irregular surface of an object. The device being at a first viewpoint, 3D position coordinates for the device are initialized, and an imaging system captures a first image comprising at least a portion of the surface. First 3D position coordinates are determined for a first image point. Highest and lowest points of the surface are initialized 5 at the first image point. An inertial sensing unit detects a movement of the device to a current viewpoint. Current position coordinates for the device are determined. A current image comprising another portion of the surface is captured. Current position coordinates are determined for a current image point. The highest or lowest may be updated using the current position coordinates for the current image point. The depth value is updated based on a 0 calculated distance between the highest and lowest points.

Claims23

Dependent claims

A computer-implemented method for determining a depth value of a three-dimensional (3D) irregular surface of an object, the method comprising:

while a device is positioned at a first viewpoint in a 3D coordinate system:
initializing 3D position coordinates of the device,
capturing, using an imaging system of the device, a first image comprising at least a portion of the 3D irregular surface of the object,
determining first 3D position coordinates for a first point of the 3D irregular surface, the first point being contained in the first image,
initializing a highest point (HP) of the 3D irregular surface with the first 3D position coordinates for the first point of the 3D irregular surface, and
initializing a lowest point (LP) of the 3D irregular surface with the first 3D position coordinates for the first point of the 3D irregular surface;
and
while the device is moving, relative to the 3D irregular surface, to one of more subsequent viewpoints, for each subsequent viewpoint:
detecting, using an inertial sensing unit of the device, a movement of the device between a previous viewpoint and a current viewpoint,
determining, using position change information provided by the inertial sensing unit, current 3D position coordinates for the device,
capturing, using the imaging system, a current image comprising another portion of the 3D irregular surface of the object,
determining current 3D position coordinates for a current point of the 3D irregular surface, the current point being contained in the current image,
if determination is made that the current point is relatively closer to a top of the 3D irregular surface than the HP, updating the HP using the current 3D position coordinates for the current point,
if determination is made that the current point is relatively further from the top of the 3D irregular surface than the LP, updating the LP using the current 3D position coordinates for the current point, and
selectively updating the depth value based on a calculated distance between the HP and the LP.

12 more elements

A device for determining a depth value of a three-dimensional (3D) irregular surface of an object, the device comprising:

an inertial sensing unit configured to detect movements of the device and to provide position change information for the device in a 3D coordinate system;
an imaging system configured to capture images of the 3D irregular surface of the object;
and
a computing unit operatively connected to the inertial sensing unit and to the imaging system, the computing unit being configured to:
while the device is positioned at a first viewpoint in a 3D coordinate system:
initialize 3D position coordinates for the device,
receive, from the imaging system, a first image comprising at least a portion of the 3D irregular surface of the object,
determine first 3D position coordinates for a first point of the 3D irregular surface contained in the first image,
initialize a highest point (HP) of the 3D irregular surface with the first 3D position coordinates for the first point of the 3D irregular surface, and
initialize a lowest point (LP) of the 3D irregular surface with the first 3D position coordinates for the first point of the 3D irregular surface;
while the device is moving, relative to the 3D irregular surface, to one of more subsequent viewpoints, for each subsequent viewpoint:
receive, from the inertial sensing unit, position change information for the device,
determine, using the position change information, current 3D position coordinates for the device,
receive, from the imaging system, a current image comprising another portion of the 3D irregular surface of the object,
determine current 3D position coordinates for a current point of the 3D irregular surface, the current point being contained in the current image,
if determination is made that the current point is relatively closer to a top of the 3D irregular surface than the HP, update the HP using the current 3D position coordinates for the current point,
if determination is made that the current point is relatively further from the top of the 3D irregular surface than the LP, update the LP using the current 3D position coordinates for the current point, and
selectively update the depth value based on a calculated distance between the HP and the LP.

15 more elements

Dependencies are inferred from the claim text.