Integrated system for quickly and accurately imaging and modeling three-dimensional objects
AssigneeCyra Technologies, Inc.
InventorsBen K. Kacyra, Jerry Dimsdale, Christopher Robin Thewalt, Jonathan Apollo Kung, Mark Brunkhart
Life of this patent
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Abstract
An integrated system generates a model of a three-dimensional object. A scanning laser device scans the three-dimensional object and generates a point cloud. The points of the point cloud each indicate a location of a corresponding point on a surface of the object. A first model is generated, responsive to the point cloud, that generates a first model representing constituent geometric shapes of the object. A data file is generated, responsive to the first model, that can be inputted to a computer-aided design system.
Claims5
A method for automatically segmenting a scan field of a scene into subsets of points that represent different surfaces in the scene, comprising the steps of:
- separating the scan field into a depth grid that includes depth information for scanned points of surfaces in the scene and a normal grid that includes an estimate of a normal to scanned points of the surfaces;
- convolving the depth information of the depth grid to generate a depth rating image whose values represent a gradient of depth change from one scanned point to another scanned point in the scene;
- convolving the components of the normal grid to generate a scalar value for each component for each point of the normal grid,
- for each point of the normal grid, determining from the scalar values for the components of that particular point a gradient of the normal at that point, wherein the gradients determined for the points of the normal grid collectively constitute a normal rating image;
- converting the depth rating image to a binary depth image using a recursive thresholding technique;
- converting the normal rating image to a binary normal image using a recursive thresholding technique;
- combining the binary depth image and the binary normal image to determine a single edge image;
- and
- grouping subsets of non-edge points as belonging to corresponding surfaces of the scene.
A method of warping, comprising:
- selecting one or more models represented by a plurality of point clouds and geometric primitives;
- specifying constraints on the locations of any number of points or geometric primitives;
- creating an artificial volume that surrounds the points and geometric primitives in each view and assigning mechanical material characteristics to the surrounding volume;
- computing a minimum energy configuration for the material in the surrounding volume in which the points or geometric primitives are embedded such that the configuration satisfies all applied constraints;
- and
- displacing the points and primitives in accordance with the computed minimum energy configuration of the surrounding volume of material.
Dependencies are inferred from the claim text.