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MULTI-DIMENSIONAL DATA CAPTURE OF AN ENVIRONMENT USING PLURAL DEVICES

  • US 20140071234A1
  • Filed: 09/10/2013
  • Published: 03/13/2014
  • Est. Priority Date: 09/10/2012
  • Status: Active Grant
First Claim
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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:

  • 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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