# US 2025/0095296 A1 · Scene space model construction method and apparatus, and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0095296 A1 - Document ID: US20250095296A1 - Status: Published application - Kind: A1 - Application number: 18/728,351 - Filed: 2023-01-05 - Published: 2025-03-20 - Earliest claimed: 2022-01-12 - Assignees: Realsee (Beijing) Technology Co., Ltd. - Applicants: Realsee (Beijing) Technology Co., Ltd. - Inventors: Zhe XIE - Web page: https://patentgrep.com/patent/US20250095296A1 ## CPC - G06T 17/20: Finite element generation, e.g. wire-frame surface description, {tesselation} - G06T 3/08: Projecting images onto non-planar surfaces, e.g. geodetic screens - G06T 3/60: Rotation of whole images or parts thereof - G06T 7/90: Determination of colour characteristics - G06T 15/04: Texture mapping - G06T 17/00: Three-dimensional [3D] modelling for computer graphics - G06T 2200/08: involving all processing steps from image acquisition to 3D model generation - G06T 2207/10024: Color image - G06T 2207/10028: Range image; Depth image; 3D point clouds - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract According to the present disclosure, a method, device for constructing a scene space model and a storage medium are provided. The method includes: acquiring first point cloud information collected by mobile point cloud collection equipment; acquiring depth image information collected by fixed-point depth camera equipment; determining a rotation matrix of a camera coordinate system of the fixed-point depth camera equipment corresponding to a global coordinate system; generating a first panoramic image based on the depth image information, mapping the first panoramic image onto a three-dimensional unit sphere; rotating the three-dimensional unit sphere based on the rotation matrix to generate a second panoramic image; and generating a scene space model based on the first point cloud information and the second panoramic image. ## Claims ### Claim at position 1 1-21. (canceled) ### Claim 22 A method for constructing a scene space model, comprising: acquiring first point cloud information corresponding to a target scene collected by mobile point cloud collection equipment; acquiring depth image information corresponding to a partial region of the target scene collected by fixed-point depth camera equipment, wherein the depth image information includes: second point cloud information and image color information corresponding to the second point cloud information; determining a rotation matrix of a camera coordinate system of the fixed-point depth camera equipment corresponding to a global coordinate system based on the first point cloud information and the second point cloud information, wherein the global coordinate system is a coordinate system corresponding to the first point cloud information; generating a first panoramic image based on the depth image information, mapping the first panoramic image onto a three-dimensional unit sphere; rotating the three-dimensional unit sphere based on the rotation matrix to generate a second panoramic image; and generating a scene space model based on the first point cloud information and the second panoramic image. ### Claim 23 (depends on 22) The method of claim 22, wherein the determining the rotation matrix corresponding to the camera coordinate system of the fixed-point depth camera equipment and the global coordinate system based on the first point cloud information and the second point cloud information includes: splicing the second point cloud information collected by at least one fixed-point depth camera equipment to generate third point cloud information corresponding to a panoramic view of the target scene; determining a fixed-point rotation matrix of a camera coordinate system of the fixed-point depth camera equipment corresponding to the third point cloud information; determining a second fixed-point rotation matrix between the first point cloud information and the second point cloud information; and determining the rotation matrix based on the first fixed-point rotation matrix and the second fixed-point rotation matrix. ### Claim 24 (depends on 23) The method of claim 23, wherein the determining the second fixed-point rotation matrix between the first point cloud information and the second point cloud information includes: matching the first point cloud information and the second point cloud information based on a preset point cloud matching algorithm to acquire the second fixed-point rotation matrix between the first point cloud information and the second point cloud information, wherein the point cloud matching algorithm includes: iterative closest points (ICP) algorithm. ### Claim 25 (depends on 23) The method of claim 23, wherein the determining the rotation matrix based on the first fixed-point rotation matrix and the second fixed-point rotation matrix includes: serving the product of the first fixed-point rotation matrix and the second fixed-point rotation matrix as the third fixed-point rotation matrix corresponding to the fixed-point depth camera equipment; and calculating the rotation matrix by using the point cloud matching algorithm and taking the third fixed-point rotation matrix as an initial value, wherein the point cloud matching algorithms include: ICP algorithm. ### Claim 26 (depends on 22) The method of claim 22, wherein the mapping the first panoramic image onto a three-dimensional unit sphere includes: converting at least one pixel in the first panoramic image from two-dimensional coordinates to three-dimensional coordinates to map the first panoramic image to a three-dimensional unit sphere. ### Claim 27 (depends on 22) The method of claim 22, wherein the rotating the three-dimensional unit sphere based on the rotation matrix to generate a second panoramic image includes: rotating the three-dimensional unit sphere based on the rotation matrix to acquire new three-dimensional coordinates of at least one pixel of the first panoramic image; and generating a second panoramic image based on the new three-dimensional coordinates and the color information of at least one pixel. ### Claim 28 (depends on 27) The method of claim 27, wherein the generating a second panoramic image based on the new three-dimensional coordinates and the color information of at least one pixel includes: determining a new position of at least one pixel of the first panoramic image on the three-dimensional unit sphere based on the new three-dimensional coordinates; and adding color information of at least one pixel of the first panoramic image to the new position to generate the second panoramic image. ### Claim 29 (depends on 22) The method of claim 22, wherein the generating the scene space model based on the first point cloud information and the second panoramic image includes: performing surface reconstruction processing on the first point cloud information based on a surface reconstruction algorithm to generate a mesh model corresponding to the first point cloud information; generating a texture of the mesh based on position information of the mesh of the mesh model and the second panoramic image; and setting the texture at corresponding mesh to generate a three-dimensional space model. ### Claim 30 (depends on 29) The method of claim 29, wherein the surface reconstruction algorithm includes: Possion surface reconstruction algorithm; the mesh includes: a triangular mesh and a quadrilateral mesh. ### Claim 31 (depends on 23) The method of claim 23, wherein the generating the scene space model based on the first point cloud information and the second panoramic image includes: performing surface reconstruction processing on the first point cloud information based on a surface reconstruction algorithm to generate a mesh model corresponding to the first point cloud information; generating a texture of the mesh based on position information of the mesh of the mesh model and the second panoramic image; and setting the texture at corresponding mesh to generate a three-dimensional space model. ### Claim 32 (depends on 31) The method of claim 31, wherein the surface reconstruction algorithm includes: Possion surface reconstruction algorithm; the mesh includes: a triangular mesh and a quadrilateral mesh. ### Claim 33 (depends on 24) The method of claim 24, wherein the generating the scene space model based on the first point cloud information and the second panoramic image includes: performing surface reconstruction processing on the first point cloud information based on a surface reconstruction algorithm to generate a mesh model corresponding to the first point cloud information; generating a texture of the mesh based on position information of the mesh of the mesh model and the second panoramic image; and setting the texture at corresponding mesh to generate a three-dimensional space model. ### Claim 34 (depends on 33) The method of claim 33, wherein the surface reconstruction algorithm includes: Possion surface reconstruction algorithm; the mesh includes: a triangular mesh and a quadrilateral mesh. ### Claim 35 (depends on 25) The method of claim 25, wherein the generating the scene space model based on the first point cloud information and the second panoramic image includes: performing surface reconstruction processing on the first point cloud information based on a surface reconstruction algorithm to generate a mesh model corresponding to the first point cloud information; generating a texture of the mesh based on position information of the mesh of the mesh model and the second panoramic image; and setting the texture at corresponding mesh to generate a three-dimensional space model. ### Claim 36 (depends on 26) The method of claim 26, wherein the generating the scene space model based on the first point cloud information and the second panoramic image includes: performing surface reconstruction processing on the first point cloud information based on a surface reconstruction algorithm to generate a mesh model corresponding to the first point cloud information; generating a texture of the mesh based on position information of the mesh of the mesh model and the second panoramic image; and setting the texture at corresponding mesh to generate a three-dimensional space model. ### Claim 37 (depends on 27) The method of claim 27, wherein the generating the scene space model based on the first point cloud information and the second panoramic image includes: performing surface reconstruction processing on the first point cloud information based on a surface reconstruction algorithm to generate a mesh model corresponding to the first point cloud information; generating a texture of the mesh based on position information of the mesh of the mesh model and the second panoramic image; and setting the texture at corresponding mesh to generate a three-dimensional space model. ### Claim 38 (depends on 28) The method of claim 28, wherein the generating the scene space model based on the first point cloud information and the second panoramic image includes: performing surface reconstruction processing on the first point cloud information based on a surface reconstruction algorithm to generate a mesh model corresponding to the first point cloud information; generating a texture of the mesh based on position information of the mesh of the mesh model and the second panoramic image; and setting the texture at corresponding mesh to generate a three-dimensional space model. ### Claim 39 (depends on 22) A computer-readable storage medium, on which computer program instructions are stored, wherein the computer program instructions, when executed by a processor, perform the method for constructing a scene space model of claim 22. ### Claim 40 (depends on 22) An electronic device, comprising: a memory for storing a computer program product; a processor for executing a computer program product stored in the memory, wherein the computer program product, when executed, performs the method for constructing a scene space model of claim 22. ### Claim 41 (depends on 22) A computer program product, including computer program instructions, wherein the computer program instructions, when executed by a processor, perform the method for constructing a scene space model of claim 22.