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Three dimensional spatial panorama formation with a range imaging system

  • US 20020154812A1
  • Filed: 03/12/2001
  • Published: 10/24/2002
  • Est. Priority Date: 03/12/2001
  • Status: Active Grant
First Claim
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1. A method for deriving a three-dimensional panorama from a plurality of images of a scene generated by a range imaging camera of the type that produces ambiguities in range information, said method comprising the steps of:

  • (a) acquiring a plurality of adjacent images of the scene, wherein there is an overlap region between the adjacent images and at least some of the adjacent images are range images;

    (b) providing offset data for the range images in order to recover corrected relative scene spatial information, wherein the step of providing offset data further comprises;

    (i) detecting a relative range difference between adjacent range images as a constant offset between the adjacent images;

    (ii) applying the constant offset to at least one of adjacent range images to correct for ambiguities in the relative ranges of the range images, thereby providing corrected range images; and

    (c) deriving a three-dimensional panorama from the corrected range images.

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