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GENERATING COMPUTER MODELS OF 3D OBJECTS

  • US 20120306876A1
  • Filed: 06/06/2011
  • Published: 12/06/2012
  • Est. Priority Date: 06/06/2011
  • Status: Active Grant
First Claim
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1. A computer-implemented method of generating a 3D model of an object, comprising:

  • creating a three-dimensional volume in a memory device for storing the model, the volume comprising a plurality of voxels;

    receiving a depth image from a substantially static depth camera, the depth image comprising a depth value at each image element relating to a distance from the depth camera to a scene comprising the object;

    selecting and removing one or more image elements determined to relate to an unwanted portion of the scene to leave a wanted portion of the depth image comprising the object;

    tracking the position and orientation of at least a portion of the object in the wanted portion of the depth image by computing registration parameters, the registration parameters being parameters of a transformation for aligning the wanted portion of the depth image and a preceding depth image; and

    integrating the wanted portion of the depth image into the volume by, for each voxel;

    using the position and orientation to determine a corresponding location in the depth image for the voxel, determining a factor relating to the distance between the voxel and the depth value at the corresponding location, and updating a stored value at the voxel using the factor.

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