Method and apparatus for three-dimensional modeling via an image mosaic system
First Claim
Patent Images
1. A method for three-dimensional (3D) modeling of a 3D surface, comprising:
- obtaining a plurality of uncalibrated 3D images;
selecting a pair of 3D images out of said plurality of uncalibrated 3D images;
integrating said pair of 3D images to form a mosaiced image; and
repeating said integrating step by integrating said mosaiced image and a subsequent 3D image selected from said plurality of uncalibrated 3D images until a 3D model is completed.
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Abstract
An imaging method and system for 3D modeling of a 3D surface forms a mosaic from multiple uncalibrated 3D images, without relying on camera position data to merge the 3D images. The system forms the 3D model by merging two 3D images to form a mosaiced image, merging the mosaiced image with another 3D image, and repeating the merging process with new 3D images one by one until the 3D model is complete. The images are aligned in a common coordinate system via spatial transformation.
186 Citations
30 Claims
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1. A method for three-dimensional (3D) modeling of a 3D surface, comprising:
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obtaining a plurality of uncalibrated 3D images;
selecting a pair of 3D images out of said plurality of uncalibrated 3D images;
integrating said pair of 3D images to form a mosaiced image; and
repeating said integrating step by integrating said mosaiced image and a subsequent 3D image selected from said plurality of uncalibrated 3D images until a 3D model is completed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An apparatus for three-dimensional (3D) modeling of a 3D surface, comprising:
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an optical device configured to obtain a plurality of uncalibrated 3D images that include data corresponding to a distance between a focal point of the optical device and a point on the 3D surface; and
a processor coupled to the optical device that includes;
a selector that selects a pair of 3D images out of said plurality of uncalibrated 3D images obtained by said optical device; and
an integrator configured to integrate said pair of 3D images to form a mosaiced image, wherein said integrator repeats said integration process by integrating the mosaiced image and a subsequent 3D image selected from said plurality of uncalibrated 3D images until a 3D model is completed. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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21. An automated computer process for generating a mosaic of a 3D object from a plurality of uncalibrated 3D images comprising the steps of:
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capturing a plurality of 3D data images of surfaces of an object or scene from a number of viewpoints;
automatically aligning said plurality of 3D data images into a selected coordinate system based on parameters of a 3D camera utilized to capture said 3D data images; and
merging said plurality of aligned 3D data images into a single 3D geometric model. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28)
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29. A computer modeling apparatus for generating a 3D mosaic from a plurality of uncalibrated 3D surface images comprising:
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a 3D camera; and
a 3D modeling computer processor for merging said 3D surface images into a single 3D geometric model wherein said 3D modeling computer processor is configured to execute a plurality of 3D data surface images to search a plurality of uncalibrated images, to facilitate a data point search to identify and locate closest data points on selected ones of said 3D surface images, and to facilitate alignment of said uncalibrated 3D surface images. - View Dependent Claims (30)
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Specification