Method and system for 3D capture based on structure from motion with simplified pose detection
First Claim
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1. An integrated 3D modeling device comprising:
- a camera configured to capture a sequence of images from a sequence of poses relative to a known reference template pattern placed into a scene, or relative to known reference object(s) in the scene to be modeled;
a template pattern recognition engine configured to recognize the known reference template pattern placed in the scene to be modeled and determine a position of known points of the known reference template pattern or known reference object in an image from the sequences of images captured by the camera;
a pose engine configured to determine an orientation and a position of the camera (camera pose) relative to the known reference template pattern or known reference object recognized by the template pattern recognition engine;
a SFM (Structure from Motion) engine configured to determine a relative displacement of each pixel (pixel displacement) from one image to another image from the sequence of images using optical flow, and determine a range to points representing features in the scene from a viewpoint of the camera that captured the images using the pixel displacement produced by the SFM engine and camera pose calculated by the pose engine; and
a 3D modeling engine configured to combine product from the template pattern recognition and pose engines with product from the SFM engine to provide a dimensionally correct 3D map output of the scene used to generate a 3D model.
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Abstract
Aspects disclosed herein provide methods, systems, and devices for 3D image capture based on a Structure from Motion (SFM) imaging technique with simplified pose detection. The present disclosure provides a straightforward method to directly track a camera'"'"'s motion (pose detection) thereby removing a substantial portion of the computing load needed to build a dimensionally accurate 3D model from a sequence of images taken by the camera.
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Citations
19 Claims
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1. An integrated 3D modeling device comprising:
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a camera configured to capture a sequence of images from a sequence of poses relative to a known reference template pattern placed into a scene, or relative to known reference object(s) in the scene to be modeled; a template pattern recognition engine configured to recognize the known reference template pattern placed in the scene to be modeled and determine a position of known points of the known reference template pattern or known reference object in an image from the sequences of images captured by the camera; a pose engine configured to determine an orientation and a position of the camera (camera pose) relative to the known reference template pattern or known reference object recognized by the template pattern recognition engine; a SFM (Structure from Motion) engine configured to determine a relative displacement of each pixel (pixel displacement) from one image to another image from the sequence of images using optical flow, and determine a range to points representing features in the scene from a viewpoint of the camera that captured the images using the pixel displacement produced by the SFM engine and camera pose calculated by the pose engine; and a 3D modeling engine configured to combine product from the template pattern recognition and pose engines with product from the SFM engine to provide a dimensionally correct 3D map output of the scene used to generate a 3D model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification