US 7,010,158 B2Granted

Method and apparatus for three-dimensional scene modeling and reconstruction

AssigneeEastman Kodak Company

InventorsNathan D. Cahill, Mark R. Bolin, Lawrence A. Ray

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Abstract

A three-dimensional model of a scene is obtained from a plurality of three-dimensional panoramic images of a scene, wherein each three-dimensional panoramic image is derived from a plurality of range images captured from a distinct spatial position. Transformations are determined that align the plurality of three-dimensional panoramic images, and spatial information is integrated from the plurality of three-dimensional panoramic images to form a spatial three-dimensional model of the scene. Finally, intensity and texture information is integrated from the plurality of three-dimensional panoramic images onto the spatial three-dimensional model to form a three-dimensional model of the scene containing both spatial and intensity information.

Claims17

Dependent claims

A method for deriving a three-dimensional model of a scene from a plurality of images of the scene, said method comprising the steps of:

(a) generating a plurality of three-dimensional panoramic images of a scene, wherein each three-dimensional panoramic image is derived from a plurality of range images captured from a distinct spatial position;
(b) determining transformations that align the plurality of three-dimensional panoramic images;
(c) integrating spatial information from the plurality of three-dimensional panoramic images to form a spatial three-dimensional model of the scene;
and
(d) integrating intensity and texture information from the plurality of three-dimensional panoramic images onto the spatial three-dimensional model to form a three-dimensional model of the scene containing both spatial and intensity information;
wherein the step (a) of generating a plurality of three-dimensional panoramic images further comprises:
(i) positioning a camera at a first distinct spatial location;
(ii) acquiring the plurality of range images of the scene by rotating the camera about a vertical axis relative to the scene, wherein there is an inter-overlap region between adjacent images;
(iii) forming a three-dimensional panoramic image about the vertical axis from the plurality of range images acquired in step (ii);
and
(iv) generating a plurality of three-dimensional panoramic images by repeating steps (i) through (iii) at additional spatial positions in the scene.

8 more elements

A computer program product for deriving a three-dimensional model of a scene from a plurality of three-dimensional panoramic images of a scene, wherein each three-dimensional panoramic image is derived from a plurality of range images captured from a distinct spatial position;

said computer program product comprising a computer readable storage medium having a computer program stored thereon for performing the steps of:
(a) determining transformations that align the plurality of three-dimensional panoramic images;
(b) integrating spatial information from the plurality of three-dimensional panoramic images to form a spatial three-dimensional model of the scene;
and
(c) integrating intensity and texture information from the plurality of three-dimensional panoramic images onto the spatial three-dimensional model to form a three-dimensional model of the scene containing both spatial and intensity information;
wherein the step (a) of determining the transformations that align the plurality of three-dimensional panoramic images further comprises:
determining one or more pairs of three-dimensional panoramic images that contain some common scene information;
determining the transformations that align each pair of three-dimensional panoramic images that contain some common scene information;
and
determining global inconsistencies in the transformations found in step (b).

7 more elements

Dependencies are inferred from the claim text.