Apparatus and method for recreating and manipulating a 3D object based on a 2D projection thereof
AssigneeCognitens Ltd.
InventorAmnon Shashua
Life of this patent
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Abstract
A method for generating information regarding a 3D object from at least one 2D projection thereof, the method comprising providing at least one 2D projection of a 3D object, generating an array of numbers described by: .alpha..sub.ijk =v.sub.i 'b.sub.jk -v.sub.j "a.sub.ik (i,j,k=1,2,3), where a.sub.ij and b.sub.jk are elements of matrices A and B respectively and v.sub.i ' and v.sub.i " are elements of vectors v' and v" respectively, wherein the matrices and vectors together describe camera parameters of three views of the 3D object and employing the array to generate information regarding the 3D object.
Claims113
An image processing system for generating an image of a scene from three views of the scene, the image processing system comprising:
- A. a planar view processor for identifying from the three planar views a set P.sub.s of at least one point P in the scene which has a respective projection in all three views;
- B. a trilinear tensor generator for generating from the set P.sub.s a trilinear tensor T having components .alpha..sub.ijk conforming to
- .alpha..sub.ijk =v'.sub.i b.sub.jk -v.sub.j".sub.j a.sub.ik (i, j, k=1, 2, 3),
- where v.sub.i ' and v.sub.j " are components of vectors v' and v", and a.sub.jk and b.sub.jk are components of matrices A and B defined such that, for each point P .OR right. P.sub.s in the set, projection points p, p' and p" onto the respective first, second and third views have coordinates in the respective view given by
- p=I,0!P (where "I" represents an identity matrix),
- p'.congruent.A,v'!P (where ".congruent." represents equality up to a scale factor), and
- p".congruent.B,v"!P,
- A, B, v' and v" being the same for projection points p, p' and p" for point P .OR right. P.sub.s ;
- and
- C. an image generator for utilizing the trilinear tensor T to generate the image of said scene.
A computer-implemented image processing method for generating an image of a scene from three views of the scene, the image processing method comprising the steps of:
- A. identifying from said three planar views a set P.sub.s of at least one point P in the scene which has a projection in all three views;
- B. generating from the set P.sub.s a trilinear tensor T having components .alpha..sub.ijk conforming to:
- .alpha..sub.ijk =v.sub.i 'b.sub.jk -v.sub.j "a.sub.ik (i, j, k=1, 2, 3),
- where v.sub.i ' and v.sub.j ' are components of vectors v' and v", and a.sub.jk and b.sub.jk are components of matrices A and B defined such that, for said point P .OR right. P.sub.s in the set, projection points p, p' and p" onto the respective first, second and third views have coordinates in the respective view given by
- p=I,0!P (where "I" represents an identity matrix),
- p'.congruent.A,v'!P (where ".congruent." represents equality up to a scale factor), and
- p".congruent.B,v"!P,
- A, B, v' and v" being the same for projection points p, p' and p" for all points P .OR right. P.sub.s ;
- and
- C. utilizing the trilinear tensor T to generate said image.
A computer program product for enabling a computer to generate an image of a scene from three views of the scene, the three views having a set P.sub.s of at least one point P in the scene which has a respective projection in all three views, the computer program product comprising a computer-readable medium having encoded thereon:
- A. a trilinear tensor generation module for enabling said computer to generate from the set P.sub.s a trilinear tensor T having components .alpha..sub.ijk conforming to
- .alpha..sub.ijk =v.sub.i 'b.sub.jk -v.sub.j "a.sub.ik (i, j, k=1, 2, 3),
- where v.sub.i ' and v.sub.j " are components of vectors v' and v", and a.sub.jk and b.sub.jk are components of matrices A and B defined such that, for each point P .OR right. P.sub.s in the set, projection points p, p' and p" onto the respective first, second and third views have coordinates in the respective view given by
- p=I,0!P (where "I" represents an identity matrix),
- p'.congruent.A,v'!P (where ".congruent." represents equality up to a scale factor), and
- p".congruent.B,v"!P,
- A, B, v' and v" being the same for projection points p, p' and p" for point P .OR right. P.sub.s ;
- and
- B. an image generation module for enabling said computer to utilize the trilinear tensor T to generate the image of said scene.
Dependencies are inferred from the claim text.