Method and apparatus for constructing three dimensional model of object
First Claim
1. A method of constructing a three-dimensional (3D) model of an object, the method comprising:
- capturing images of the object by scanning the object along a trajectory around the object;
estimating positions of a scanner, which respectively correspond to the captured images;
identifying an accumulated drift of position and orientation of the scanner based on at least two locations on the trajectory;
re-estimating the positions of the scanner by distributing the accumulated drift among the positions;
generating a surface mesh of the object by using the re-estimated positions of the scanner; and
constructing and displaying the 3D model of the object by using the generated surface mesh,wherein the re-estimating of the positions further comprises;
identifying for each of key frames a variance indicating to what extent position is corrupted by measurement noise and the accumulated drift,providing key frames having a high position variance with stronger position correction, andproviding key frames having a low position variance with less position correction.
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Abstract
A method and an apparatus for constructing a three-dimensional (3D) model of an object are provided. The method includes capturing images of the object by scanning the object along a trajectory around the object, estimating positions of a scanner, which respectively correspond to the captured images, refining the estimated positions of the scanner based on at least two locations on the trajectory, estimating depth maps corresponding to the refined positions of the scanner, generating a surface mesh of the object by fusing the depth maps, and constructing and displaying the 3D model of the object by mapping textures onto the generated surface mesh.
61 Citations
22 Claims
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1. A method of constructing a three-dimensional (3D) model of an object, the method comprising:
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capturing images of the object by scanning the object along a trajectory around the object; estimating positions of a scanner, which respectively correspond to the captured images; identifying an accumulated drift of position and orientation of the scanner based on at least two locations on the trajectory; re-estimating the positions of the scanner by distributing the accumulated drift among the positions; generating a surface mesh of the object by using the re-estimated positions of the scanner; and constructing and displaying the 3D model of the object by using the generated surface mesh, wherein the re-estimating of the positions further comprises; identifying for each of key frames a variance indicating to what extent position is corrupted by measurement noise and the accumulated drift, providing key frames having a high position variance with stronger position correction, and providing key frames having a low position variance with less position correction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An apparatus for configuring a three-dimensional (3D) model of an object, the apparatus comprising:
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a scanner configured to capture images of the object by scanning the object along a trajectory around the object; at least one processor configured to; estimate positions of the scanner, which respectively correspond to the captured images, identify an accumulated drift of position and orientation of the scanner based on at least two locations on the trajectory, re-estimate the positions of the scanner by distributing the accumulated drift among the positions, generate a surface mesh of the object by using the re-estimated positions of the scanner, and construct the 3D model of the object by using the generated surface mesh; and a display configured to display the 3D model of the object, wherein, to re-estimate the positions, the at least one processor is further configured to; identify for each of key frames a variance indicating to what extent position is corrupted by measurement noise and the accumulated drift, provide key frames having a high position variance with stronger position correction, and provide key frames having a low position variance with less position correction. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification