Systems and methods for generating three-dimensional models using sensed position data

A non-transitory computer readable medium comprising program instructions stored thereon that are executable by a processor to cause the following steps for generating a three-dimensional (3D) model:

• receiving a first set of sensed position data indicative of an orientation of a camera device used to acquire a first two-dimensional (2D) image, wherein the first set of sensed position data is provided by a sensor of the camera device used to acquire the first 2D image;
• receiving a second set of sensed position data indicative of an orientation of a camera device used to acquire a second two-dimensional (2D) image, wherein the second set of sensed position data is provided by a sensor of the camera device used to acquire the second 2D Image;
• determining a sensed rotation matrix for an image pair comprising the first and second 2D images using the first and second sets of sensed position data;
• identifying a calculated camera transformation matrix for the image pair, the calculated transformation comprising a calculated translation vector and a calculated rotation matrix, wherein identifying a calculated camera transformation, comprises,
• deriving a plurality of candidate calculated transformation matrices using a set of matching points of the first and second 2D images, wherein the candidate calculated transformation matrices each comprise a translation component and a calculated rotation matrix;
• identifying a candidate calculated transformation matrix of the plurality of candidate calculated transformation matrices that is associated with the lowest transformation error;
• and
• identifying the candidate calculated transformation matrix that is associated with the lowest transformation error as the calculated camera transformation;
• generating a sensed camera transformation matrix for the image pair, the sensed camera transformation comprising a translation vector and the sensed rotation matrix;
• identifying a set of matching points of the first and second 2D images;
• determining whether a first error associated with a transformation of the set of matching points using the sensed camera transformation is less than a second error associated with a transformation of the set of matching points using the calculated camera transformation;
• and
• in response to determining that a first error associated with a transformation of the set of matching points using the sensed camera transformation is less than a second error associated with a transformation of the set of matching points using the calculated camera transformation, generating a 3D model using the sensed camera transformation;
• and
• storing the 3D model in an 3D model repository.

A computer-implemented method for generating a three-dimensional (3D) model, the method comprising:

• receiving, by one or more computing devices, a first set of sensed position data indicative of a position of a camera device used to acquire a first two-dimensional (2D) image, wherein the first set of sensed position data is provided by an integrated sensor of the camera device used to acquire the first 2D image;
• receiving, by the one or more computing devices, a second set of positioning sensor data indicative of a position of a camera device used to acquire a second two-dimensional (2D) image, wherein the second set of sensed position data is provided by an integrated sensor of the camera device used to acquire the second 2D image;
• determining, by the one or more computing devices, a sensed rotation matrix and/or a sensed translation vector between the first and second 2D images using the first and second sets of sensed position data;
• identifying, by the one or more computing devices, a calculated camera transformation comprising a calculated translation vector and a calculated rotation matrix, wherein identifying a calculated camera transformation, comprises,
• deriving a plurality of candidate calculated transformation matrices using a set of matching points of the first and second 2D images, wherein the candidate calculated transformation matrices each comprise a translation component and a calculated rotation matrix;
• identifying a candidate calculated transformation matrix of the plurality of candidate calculated transformation matrices that is associated with the lowest transformation error;
• and
• identifying the candidate calculated transformation matrix that is associated with the lowest transformation error as the calculated camera transformation;
• generating, by the one or more computing devices, a sensed camera transformation comprising the sensed rotation matrix and/or the sensed translation vector;
• identifying, by the one or more computing devices, a set of matching points of the first and second 2D images;
• determining, by the one or more computing devices, whether a first error associated with a transformation of the set of matching points using the sensed camera transformation is less than a second error associated with a transformation of the set of matching points using the calculated camera transformation;
• and
• in response to determining, by the one or more computing devices, that a first error associated with a transformation of the set of matching points using the sensed camera transformation is less than a second error associated with a transformation of the set of matching points using the calculated camera transformation, generating a 3D model using the sensed camera transformation;
• and
• storing, by the one or more computing devices, the 3D model in an 3D model repository.