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Stereo-panoramic data

  • US 10,061,189 B2
  • Filed: 09/05/2012
  • Issued: 08/28/2018
  • Est. Priority Date: 09/06/2011
  • Status: Active Grant
First Claim
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1. A method, comprising the steps of:

  • (a) accessing a program having a desired path through a physical area;

    (b) instructing a robotic maneuvering platform (RMP) to move to a start location on the desired path;

    (c) instructing a programmable camera controller (PCC) to execute capture of stereoscopic panoramic data at the start location;

    (d) receiving stereoscopic panoramic data from the start location;

    (e) deciding whether additional data-capture locations along the desired path exist; and

    (f) responsive to deciding that additional data-capture locations exist along the desired path;

    (f1) determining a stereocomplexity (Sc) from the received stereoscopic panoramic data, the Sc being based at least in part upon a norm of a stereo-differential between stereo pairs of the stereoscopic panoramic data;

    (f2) determining a step size to a subsequent location on the desired path, the step size being a function of the determined Sc;

    (f3) determining the subsequent location on the desired path based on the determined step size;

    (f4) instructing the RMP to move to the determined subsequent location on the desired path;

    (f5) instructing the PCC to execute capture of stereoscopic panoramic data at the subsequent location;

    (f6) receiving stereoscopic panoramic data from the subsequent location; and

    (f7) repeating the process from step (e).

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