Selective surface mesh regeneration for 3-dimensional renderings
First Claim
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1. A method, comprising:
- computer-generating a 3D voxel grid of an environment based on initial depth information received via a depth camera;
for each voxel in the 3D voxel grid, computer-assigning an initial signed value representative of that voxel'"'"'s distance from a nearest surface;
for each subset of voxels in the 3D voxel grid comprising a surface, computer-generating an initial surface mesh;
receiving, via the depth camera, updated depth information for the environment;
for each voxel in the 3D voxel grid, computer-assigning an updated signed value based on the updated depth information;
for each subset of voxels in the 3D voxel grid, determining an absolute difference between the updated signed value and the initial signed value for all voxels within the subset;
comparing the determined absolute difference to a non-zero threshold, the non-zero threshold based on a maximum allowed magnitude of discontinuity between adjacent subsets of voxels;
selectively computer-generating an updated surface mesh on only those subsets of voxels in the 3D voxel grid that exhibit greater than the non-zero threshold absolute difference between the updated signed value and the initial signed value; and
maintaining the initial surface mesh on those subsets of voxels in the 3D voxel grid where the absolute difference between the updated signed value and the initial signed value is less than the non-zero threshold, regardless of whether an updated surface mesh is computer-generated for adjacent subsets of voxels.
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Abstract
A 3D voxel grid of an environment is generated, with a signed value assigned to each voxel representative of that voxel'"'"'s distance from a nearest surface. For each subset of the 3D voxel grid comprising a surface, an initial surface mesh is generated. As new depth information is received, an updated surface is generated only for those subsets of the 3D voxel grid that exhibit greater than threshold change in signed values over time.
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Citations
18 Claims
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1. A method, comprising:
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computer-generating a 3D voxel grid of an environment based on initial depth information received via a depth camera; for each voxel in the 3D voxel grid, computer-assigning an initial signed value representative of that voxel'"'"'s distance from a nearest surface; for each subset of voxels in the 3D voxel grid comprising a surface, computer-generating an initial surface mesh; receiving, via the depth camera, updated depth information for the environment; for each voxel in the 3D voxel grid, computer-assigning an updated signed value based on the updated depth information; for each subset of voxels in the 3D voxel grid, determining an absolute difference between the updated signed value and the initial signed value for all voxels within the subset; comparing the determined absolute difference to a non-zero threshold, the non-zero threshold based on a maximum allowed magnitude of discontinuity between adjacent subsets of voxels; selectively computer-generating an updated surface mesh on only those subsets of voxels in the 3D voxel grid that exhibit greater than the non-zero threshold absolute difference between the updated signed value and the initial signed value; and maintaining the initial surface mesh on those subsets of voxels in the 3D voxel grid where the absolute difference between the updated signed value and the initial signed value is less than the non-zero threshold, regardless of whether an updated surface mesh is computer-generated for adjacent subsets of voxels. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A 3D modeling computer, comprising:
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a depth camera interface configured to receive depth information from a depth camera; a logic machine; and a storage machine holding instructions executable by a logic machine to; receive initial depth information for an environment; generate a 3D voxel grid of the environment; for each voxel in the 3D voxel grid, assign an initial signed value representative of that voxel'"'"'s distance from a nearest surface; for each subset of the voxels in the 3D voxel grid comprising a surface, generate an initial surface mesh based on the signed values; receive updated depth information for the environment; for each voxel in the 3D voxel grid, assign an updated signed value based on the updated depth information; for each subsets of voxels in the 3D voxel grid, determine an absolute difference between the updated signed value and the initial signed value for all voxels within the subset; compare the determined absolute difference to a non-zero threshold, the non-zero threshold based on a maximum allowed magnitude of discontinuity between adjacent subsets of voxels; selectively generate an updated surface mesh on only those subsets of voxels in the 3D voxel grid that exhibit greater than the non-zero threshold absolute difference between the updated signed value and the initial signed value; and maintain the initial surface mesh on those subsets of voxels in the 3D voxel grid where the absolute difference between the updated signed value and the initial signed value is less than the non-zero threshold, regardless of whether an updated surface mesh is computer-generated for adjacent subsets of voxels. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A method, comprising:
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receiving depth information for an environment via a depth camera; computer-generating a 3D voxel grid of the environment based on initial depth information; for each voxel in the 3D voxel grid, computer-assigning an initial signed value representative of that voxel'"'"'s distance from a nearest surface; for each subset of voxels in the 3D voxel grid comprising a surface, computer-generating with a marching cubes algorithm an initial surface mesh; receiving, via the depth camera, updated depth information for the environment; for each voxel in the 3D voxel grid, computer-assigning an updated signed value based on the updated depth information; for each subset of voxels in the 3D voxel grid, determining an absolute difference between the updated signed value and the initial signed value for all voxels within the subset; comparing the determined absolute difference to a non-zero threshold, the non-zero threshold based on a maximum allowed magnitude of discontinuity between adjacent subsets of voxels; selectively computer-generating with the marching cubes algorithm an updated surface mesh on only those subsets of voxels in the 3D voxel grid that exhibit greater than the non-zero threshold absolute difference between the updated signed value and the initial signed value; and maintaining the initial surface mesh on those subsets of voxels in the 3D voxel grid where the absolute difference between the updated signed value and the initial signed value is less than the non-zero threshold, regardless of whether an updated surface mesh is computer-generated for adjacent subsets of voxels. - View Dependent Claims (18)
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Specification