Methods and Apparatus for Dot Marker Matching
First Claim
1. A method for a computer system comprising:
- receiving a first view of a three-dimensional object from a first sensor from a first location with respect to the three-dimensional object, at a first instance in time, wherein the object includes a plurality of sensor markers;
receiving a second view of the three-dimensional object from a second sensor from a second location with respect to the three-dimensional object, at substantially the first instance of time;
determining a first plurality of points from the first view of the three-dimensional object in response to a first plurality of sensor markers from the plurality of sensor markers;
determining a second plurality of points from the second view of the three-dimensional object in response to a second plurality of sensor markers from the plurality of sensor markers;
determining at least an approximate correspondence between points in a subset of points from the first plurality of points and points in a subset of points from the second plurality of points;
determining approximate three-dimensional locations of a third plurality of sensor markers from the plurality of sensor markers in response to the approximate correspondence; and
rendering an image of the three-dimensional object in response to the approximate three-dimensional locations of the third plurality of sensor markers.
2 Assignments
0 Petitions
Accused Products
Abstract
A method for a computer system includes receiving a first camera image of a 3D object having sensor markers, captured from a first location, at a first instance, receiving a second camera image of the 3D object from a second location, at a different instance, determining points from the first camera image representing sensor markers of the 3D object, determining points from the second camera image representing sensor markers of the 3D object, determining approximate correspondence between points from the first camera image and points from the second camera image, determining approximate 3D locations some sensor markers of the 3D object, and rendering an image including the 3D object in response to the approximate 3D locations.
-
Citations
25 Claims
-
1. A method for a computer system comprising:
-
receiving a first view of a three-dimensional object from a first sensor from a first location with respect to the three-dimensional object, at a first instance in time, wherein the object includes a plurality of sensor markers; receiving a second view of the three-dimensional object from a second sensor from a second location with respect to the three-dimensional object, at substantially the first instance of time; determining a first plurality of points from the first view of the three-dimensional object in response to a first plurality of sensor markers from the plurality of sensor markers; determining a second plurality of points from the second view of the three-dimensional object in response to a second plurality of sensor markers from the plurality of sensor markers; determining at least an approximate correspondence between points in a subset of points from the first plurality of points and points in a subset of points from the second plurality of points; determining approximate three-dimensional locations of a third plurality of sensor markers from the plurality of sensor markers in response to the approximate correspondence; and rendering an image of the three-dimensional object in response to the approximate three-dimensional locations of the third plurality of sensor markers. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A computer system comprising:
-
a memory configured to store a first view of a three-dimensional object from a first sensor from a first location with respect to the three-dimensional object, at a first instance in time, wherein the object includes a plurality of sensor markers, and configured to store a second view of the three-dimensional object from a second sensor from a second location with respect to the three-dimensional object, at substantially the first instance of time; a processor coupled to the memory, wherein the processor is configured to determine a first plurality of points from the first view of the three-dimensional object in response to a first plurality of sensor markers from the plurality of sensor markers, wherein the processor is configured to determine a second plurality of points from the first view of the three-dimensional object in response to a second plurality of sensor markers from the plurality of sensor markers, wherein the processor is configured to determine at least an approximate correspondence between points in a subset of points from the first plurality of points and points in a subset of points from the second plurality of points, and wherein the processor is configured to determine approximate three-dimensional locations of a third plurality of sensor markers from the plurality of sensor markers in response to the approximate correspondence; and a display coupled to the memory and to the processor, wherein the display is configured to display a representation of the approximate three-dimensional locations of the third plurality of sensor markers. - View Dependent Claims (9, 10, 11, 12, 13, 14)
-
-
16. The computer program product of claim 15 wherein code that determine the approximate correspondence comprises code configured to direct the processor to perform a graph matching algorithm in response to the points in the subset of points from the first plurality of points and in response to the points in the subset of points from the second plurality of points.
-
17. The computer program product of claim 15 wherein code that determine the approximate correspondence comprises code configured to perform an A* algorithm in response to the points in the subset of points from the first plurality of points and in response to the points in the subset of points from the second plurality of points.
-
18. The computer program product of claim 15 wherein code that determine the approximate correspondence comprises:
-
code configured to direct the processor to determine a plurality of matches between the points in the subset of points from the first plurality of points and the points in the subset of points from the second plurality of points; code configured to direct the processor to compute a cost function associated with each match from the plurality of matches; and code configured to direct the processor to remove a first plurality of matches from the plurality of matches in response to the associated cost function, wherein the associated cost function with matches from the first plurality of matches is higher than an associated cost function of matches from a second plurality of matches from the plurality of matches. - View Dependent Claims (19, 20)
-
-
25. A computer program product comprising a computer-readable tangible media including computer-executable code for a computer system including a processor and a memory, wherein computer-readable tangible media comprises:
-
code configured to direct the processor to receive a first image of a three-dimensional object from a camera from a first location with respect to the three-dimensional object, at a first instance in time, wherein the object includes a plurality of sensor markers; code configured to direct the processor to receive a second image of the three-dimensional object from the camera from the first location with respect to the three-dimensional object, at a second instance of time; code configured to direct the processor to determine a first plurality of points from the first image of the three-dimensional object in response to a first plurality of sensor markers from the plurality of sensor markers; code configured to direct the processor to determine a second plurality of points from the second image of the three-dimensional object in response to a second plurality of sensor markers from the plurality of sensor markers; code configured to direct the processor to determine at least an approximate correspondence between points in a subset of points from the first plurality of points and points in a subset of points from the second plurality of points; code configured to direct the processor to determine approximate three-dimensional displacements of a third plurality of sensor markers from the plurality of sensor markers in response to the approximate correspondence; and code configured to direct the processor to display a representation of the approximate three-dimensional displacements of the third plurality of sensor markers on top of the first image.
-
Specification