Nearest neighbor edge selection from feature tracking
First Claim
1. A method for nearest neighbor edge selection to construct a 3D model from a sequence of 2D images of an object or scene, comprising the steps of:
- providing a set of images from different views of the object or scene;
tracking features of the scene among successive images to establish correspondence between the 2D coordinate positions of a true 3D features as viewed in each image;
generating depth data of the features of the scene from each image of the sequence, with entries in the data corresponding to the coordinate position of the feature along a depth axis for each image, with depth measured as a distance from a camera image plane for that image view;
aligning the depth data in 3D to form vertices of the model;
connecting the vertices to form the edges of the model; and
using visibility information from feature track data, original images, depth data and input edge data to arbitrate among multiple geometrically feasible vertex connections to construct surface detail of the 3D model.
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Abstract
A method for selecting nearest neighbor edges to construct a 3D model from a sequence of 2D images of a scene. The method includes tracking features of the scene among successive images to generate 3D feature points. The entries of the feature point data correspond to the coordinate positions in each image which a true 3D feature point is viewed. The method also generates depth data of the features of the scene, with entries in the data corresponding to the coordinate position of the features in each image along a depth axis. The method then uses the feature track data, original images, depth data, input edge data, and visibility criteria to determine the position of vertices of the 3D model surface. The feature track data, original images, depth data, and input edge data also provide visibility information to guide the connections of the model vertices to construct the edges of the 3D model.
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Citations
26 Claims
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1. A method for nearest neighbor edge selection to construct a 3D model from a sequence of 2D images of an object or scene, comprising the steps of:
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providing a set of images from different views of the object or scene;
tracking features of the scene among successive images to establish correspondence between the 2D coordinate positions of a true 3D features as viewed in each image;
generating depth data of the features of the scene from each image of the sequence, with entries in the data corresponding to the coordinate position of the feature along a depth axis for each image, with depth measured as a distance from a camera image plane for that image view;
aligning the depth data in 3D to form vertices of the model;
connecting the vertices to form the edges of the model; and
using visibility information from feature track data, original images, depth data and input edge data to arbitrate among multiple geometrically feasible vertex connections to construct surface detail of the 3D model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification