MULTI-DIMENSIONAL DATA CAPTURE OF AN ENVIRONMENT USING PLURAL DEVICES
First Claim
1. A machine-readable storage medium carrying one or more sequences of instructions which, when executed by one or more processors, cause the one or more processors to carry out a method of collecting depth and image data of an environment and objects in the environment, the method comprising:
- receiving first time-indexed depth data from a first data capture device comprising a first depth camera, the first time-indexed depth data comprising a first series of distance measurements over a period of time from the first depth camera to first surfaces of an object;
receiving second time-indexed depth data from a second data capture device comprising a second depth camera, the second time-indexed depth data comprising a second series of distance measurements to second surfaces of an object over the period of time from the second depth camera;
receiving first location data of the first data capture device during the period of time;
receiving second location data of the second data capture device during the period of time;
receiving relative location data indicating how the first data capture device and the second data capture device are located relative to each other;
associating, based on the first location data, the second location data, and the relative location data, the first time-indexed depth data and the second time-indexed depth data with coordinates in a coordinate system; and
storing, to an electronic memory, time-indexed three dimensional (3D) depth data comprising the first time-indexed depth data and the second time-indexed depth data with the associated coordinates.
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Abstract
Embodiments of the invention describe apparatuses, systems, and methods related to data capture of objects and/or an environment. In one embodiment, a user can capture time-indexed three-dimensional (3D) depth data using one or more portable data capture devices that can capture time indexed color images of a scene with depth information and location and orientation data. In addition, the data capture devices may be configured to captured a spherical view of the environment around the data capture device.
126 Citations
24 Claims
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1. A machine-readable storage medium carrying one or more sequences of instructions which, when executed by one or more processors, cause the one or more processors to carry out a method of collecting depth and image data of an environment and objects in the environment, the method comprising:
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receiving first time-indexed depth data from a first data capture device comprising a first depth camera, the first time-indexed depth data comprising a first series of distance measurements over a period of time from the first depth camera to first surfaces of an object; receiving second time-indexed depth data from a second data capture device comprising a second depth camera, the second time-indexed depth data comprising a second series of distance measurements to second surfaces of an object over the period of time from the second depth camera; receiving first location data of the first data capture device during the period of time; receiving second location data of the second data capture device during the period of time; receiving relative location data indicating how the first data capture device and the second data capture device are located relative to each other; associating, based on the first location data, the second location data, and the relative location data, the first time-indexed depth data and the second time-indexed depth data with coordinates in a coordinate system; and storing, to an electronic memory, time-indexed three dimensional (3D) depth data comprising the first time-indexed depth data and the second time-indexed depth data with the associated coordinates. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An apparatus comprising:
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one or more depth cameras, wherein each of the one or more depth cameras capture time-indexed depth data comprising a series of distance measurements to surfaces of an object over a period of time; one or more digital image sensors that detect image data of the surfaces of the object; one or more sensors that detect location of a defined locus of the apparatus over the period of time; a self-localization module that receives location data from the one or more sensors and generates geospatial data comprising location data of the one or more depth cameras in a coordinate system over the period of time; and a communication interface that sends the time-indexed depth data, the image data, and the geospatial data to a computing device, wherein the computing device receives second time-indexed depth data, second image data, and second geospatial data from a second apparatus, and generates time-indexed three dimensional (3D) depth data comprising the first and second time-indexed depth data and image data and the first and second geospatial data. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A data capture system for capturing, over time, depth and image data of objects in an environment, comprising:
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a first data capture device that includes a first depth camera that records first distance data from the first depth camera to a first surface of one or more objects in the environment and a first image camera that records first image data of the environment and the objects therein and a first sensor that senses first location data; a second data capture device that includes a second depth camera that records second distance data from the second depth camera to a second surface of one or more objects in the environment and a second image camera that records second image data of the environment and the objects therein and a second sensor that senses second location data; and a data processor that receives the first and second distance data, and the first and second image data and the first and second location data and processes the data to create a unified data cloud of the environment and objects therein. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification