System and related methods for automatically aligning 2D images of a scene to a 3D model of the scene
First Claim
Patent Images
1. A method for automatically aligning a plurality of 2D images of a scene to a first 3D model of the scene, the method comprising:
- a. providing a plurality of 2D images of the scene;
b. generating a second 3D model of the scene based on the plurality of 2D images;
c. generating a transformation between the second 3D model and the first 3D model based on a comparison of at least one of the plurality of 2D images to the first 3D model; and
d. using the transformation to automatically align the plurality of 2D images to the first 3D model.
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Abstract
A system and related method for automatically aligning a plurality of 2D images of a scene to a first 3D model of the scene. The method includes providing a plurality of 2D images of the scene, generating a second 3D model of the scene based on the plurality of 2D images, generating a transformation between the second 3D model and the first 3D model based on a comparison of at least one of the plurality of 2D images to the first 3D model, and using the transformation to automatically align the plurality of 2D images to the first 3D model.
152 Citations
20 Claims
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1. A method for automatically aligning a plurality of 2D images of a scene to a first 3D model of the scene, the method comprising:
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a. providing a plurality of 2D images of the scene; b. generating a second 3D model of the scene based on the plurality of 2D images; c. generating a transformation between the second 3D model and the first 3D model based on a comparison of at least one of the plurality of 2D images to the first 3D model; and d. using the transformation to automatically align the plurality of 2D images to the first 3D model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for texture mapping a plurality of 2D images of a scene to a 3D model of the scene, the method comprising:
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a. providing a plurality of 3D range scans of the scene; b. generating a first 3D model of the scene based on the plurality of 3D range scans; c. providing a plurality of 2D images of the scene; d. generating a second 3D model of the scene based on the plurality of 2D images; e. registering at least one of the plurality of 2D images with the first 3D model; f. generating a transformation between the second 3D model and the first 3D model as a result of registering the at least one of the plurality of 2D images with the first 3D model; and g. using the transformation to automatically align the plurality of 2D images to the first 3D model. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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19. A system comprising:
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a 3D sensor configured to generate a plurality of 3D range scans of a scene; a 2D sensor configured to generate a plurality of 2D images of the scene; and a computer that is coupled to the 3D sensor and the 2D sensor, and includes a computer-readable medium having a computer program that, when executed by the computer, texture maps the plurality of 2D images of the scene onto a first 3D model of the scene, wherein the computer is operable to do the following steps; i. receive as input the plurality of 3D range scans and the plurality of 2D images, ii. generate the first 3D model of the scene based on the plurality of 3D range scans, iii. generate a second 3D model of the scene based on the plurality of 2D images, iv. register at least one of the plurality of 2D images with the first 3D model, v. generate a transformation between the second 3D model and the first 3D model as a result of the registering of the at least one of the plurality of 2D images with the first 3D model, and vi. use the transformation to automatically align the plurality of 2D images to the first 3D model. - View Dependent Claims (20)
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Specification