SYSTEMS AND METHODS FOR DETERMINING A GLOBAL OR LOCAL POSITION OF A POINT OF INTEREST WITHIN A SCENE USING A THREE-DIMENSIONAL MODEL OF THE SCENE

• US 20080036758A1
• Filed: 03/30/2007
• Published: 02/14/2008
• Est. Priority Date: 03/31/2006
• Status: Abandoned Application

• Current Assignee: Intelisum Incorporated
• Original Assignee: Intelisum Incorporated
• Inventors: Jensen, James, Robinson, Gary, Carpenter, David, Vashisth, Robert, Coleby, Stanley
• Application Number:
  US11/694,926
• Publication Number:
  US 20080036758A1
• Time in Patent Office: Days
• US Class Current: 345/419
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80

Abstract

A three-dimensional image is generated using global or local coordinate, 3-D spatial data, and image data gathered from one or more locations relative to a scene. The global or local position of 3-D spatial data points on the image is determined. The position of a point of interest on the three-dimensional image is determined by creating a three-dimensional polygon using adjacent 3-D spatial data points. The global or local position of these points may then be calculated using, for example, a ray tracing algorithm. The global or local position of a point of interest may alternatively be approximated, for example, by interpolating the global or local coordinates of the 3-D spatial data point(s) closest to the point of interest. Furthermore, a distance, bearing, or other measurement between two points of interest may also be calculated.

Claims

1. A method for determining a global or local position of a point of interest using a three-dimensional model, comprising:

generating a three-dimensional model using global or local coordinate data, 3-D spatial data, and image data gathered from one or more locations for a scene;

identifying a point of interest on the three-dimensional model for which 3-D spatial data has not been obtained;

formulating a three-dimensional polygon using 3-D spatial data points proximate the point of interest;

determining 3-D spatial coordinates of the point of interest using the formulated three-dimensional polygon and a ray tracing or other interpolation technique; and

converting the 3-D spatial coordinates of the point of interest to global or local coordinates.

2. The method of claim 1, wherein global or local coordinate data, 3-D spatial data, and image data for the model are gathered from multiple locations for the scene.

3. The method of claim 1, wherein the 3-D spatial data comprises data indicating a distance from a data gathering device to points within the scene.

4. The method of claim 1, wherein the image data is gathered by a digital camera.

5. The method of claim 1, wherein the point of interest is obstructed such that GPS data cannot be gathered directly for the point of interest.

15. The computer-readable medium of claim 11, wherein the point of interest is obstructed such that GPS data cannot be gathered directly for the point of interest.

6. A system for determining a global or local position of a point of interest using a three-dimensional model, the system comprising:

a processor;

memory in electronic communication with the processor; and

instructions stored in the memory, the instructions being executable to;

generate a three-dimensional model using global or local coordinate data, 3-D spatial data, and image data gathered from one or more locations for a scene;

identify a point of interest on the three-dimensional model for which 3-D spatial data has not been obtained;

formulate a three-dimensional polygon using 3-D spatial data points proximate the point of interest;

determine 3-D spatial coordinates of the point of interest using the formulated three-dimensional polygon and a ray tracing or other interpolation technique; and

convert the 3-D spatial coordinates of the point of interest to global or local coordinates.

7. The system of claim 6, wherein global or local coordinate data, 3-D spatial data, and image data for the model are gathered from multiple locations for the scene.

8. The system of claim 6, wherein the 3-D spatial data comprises data indicating a distance from a data gathering device to points within the scene.

9. The system of claim 6, wherein the image data is gathered by a digital camera.

10. The system of claim 6, wherein the point of interest is obstructed such that GPS data cannot be gathered directly for the point of interest.

11. A computer-readable medium comprising executable instructions for determining a global or local position of a point of interest using a three-dimensional model, the instructions being executable to:

generate a three-dimensional model using global or local coordinate data, 3-D spatial data, and image data gathered from one or more locations for a scene;

identify a point of interest on the three-dimensional model for which 3-D spatial data has not been obtained;

formulate a three-dimensional polygon using 3-D spatial data points proximate the point of interest;

determine 3-D spatial coordinates of the point of interest using the formulated three-dimensional polygon and a ray tracing or other interpolation technique; and

convert the 3-D spatial coordinates of the point of interest to global or local coordinates.

12. The computer-readable medium of claim 11, wherein global or local coordinate data, 3-D spatial data, and image data for the model are gathered from multiple locations for the scene.

13. The computer-readable medium of claim 11, wherein the 3-D spatial data comprises data indicating a distance from a data gathering device to points within the scene.

14. The computer-readable medium of claim 11, wherein the image data is gathered by a digital camera.