Using Free-Form Deformations In Surface Reconstruction
First Claim
1. A method for reconstructing a physical space, comprising:
- obtaining a plurality of images of the physical space using a camera carried by a rig while the rig moves in the physical space through a plurality of poses;
determining an orientation and a coordinate system of each pose;
partitioning the physical space into a plurality of volumes, each volume of the plurality of volumes comprises vertices;
for each volume of the plurality of volumes, obtaining a depth map of the physical space using a depth sensor carried by the rig;
providing a pose graph in a first state, the pose graph in the first state comprising a plurality of nodes and links between nodes of the plurality of nodes, each node of the plurality of nodes is associated with;
one of the poses, one of the images associated with the one of the poses and one of the coordinate systems associated with the one of the poses, and the links define correspondences between the images and transforms between the coordinate systems;
for each volume of the plurality of volumes, anchoring the vertices of the volume to at least two different points in the pose graph in the first state, the vertices of the volume comprise shared vertices, the shared vertices are shared with an adjacent volume of the plurality of volumes when the pose graph is in the first state;
updating the pose graph to a second state, the updating comprising updating one or more of the nodes and one or more of the links; and
for each volume of the plurality of volumes, maintaining the shared vertices when the pose graph is in the second state, wherein the maintaining the shared vertices results in changing a shape of at least one volume of the plurality of volumes.
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Abstract
Volumes of a 3D physical space are used in a surface reconstruction process, where adjacent volumes share vertices so that no gaps or overlaps between the volumes exist. As a result, a continuous surface is obtained in the surface reconstruction process. The vertices are anchored to nodes in a pose graph, such that locations of the vertices are adjusted as the pose graph is updated. As a result, a deformation of the volumes is permitted. Based on the deformation of a volume, a region of a depth map of the physical space is deformed correspondingly. Each vertex can be anchored to a closest node of the pose graph, or to a point which is based on a combination of nodes. In one approach, the point is defined based on the closest node and other nodes within a defined radius of the closest node.
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Citations
20 Claims
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1. A method for reconstructing a physical space, comprising:
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obtaining a plurality of images of the physical space using a camera carried by a rig while the rig moves in the physical space through a plurality of poses; determining an orientation and a coordinate system of each pose; partitioning the physical space into a plurality of volumes, each volume of the plurality of volumes comprises vertices; for each volume of the plurality of volumes, obtaining a depth map of the physical space using a depth sensor carried by the rig; providing a pose graph in a first state, the pose graph in the first state comprising a plurality of nodes and links between nodes of the plurality of nodes, each node of the plurality of nodes is associated with;
one of the poses, one of the images associated with the one of the poses and one of the coordinate systems associated with the one of the poses, and the links define correspondences between the images and transforms between the coordinate systems;for each volume of the plurality of volumes, anchoring the vertices of the volume to at least two different points in the pose graph in the first state, the vertices of the volume comprise shared vertices, the shared vertices are shared with an adjacent volume of the plurality of volumes when the pose graph is in the first state; updating the pose graph to a second state, the updating comprising updating one or more of the nodes and one or more of the links; and for each volume of the plurality of volumes, maintaining the shared vertices when the pose graph is in the second state, wherein the maintaining the shared vertices results in changing a shape of at least one volume of the plurality of volumes. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An apparatus for reconstructing a physical space, comprising:
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an orientation sensor; a depth sensor; a camera; and a processor in communication with the orientation sensor, the depth sensor and the camera, the processor is adapted to; obtain a plurality of images of the physical space from the camera, associate a pose and a coordinate system with each image based on the orientation sensor, partition the physical space into a plurality of volumes, each volume of the plurality of volumes comprises vertices, for each volume of the plurality of volumes, obtain a depth map of the physical space from the depth sensor, provide a pose graph in a first state comprising a plurality of nodes and links between the nodes, each node of the plurality of nodes is associated with;
one of the poses, one of the images associated with the one of the poses and one of the coordinate systems associated with the one of the poses, and the links define correspondences between the images and transforms between the coordinate systems,for each volume of the plurality of volumes, anchor the vertices of the volume to at least two different points in the pose graph in the first state, the vertices of the volume comprise shared vertices, the shared vertices are shared with an adjacent volume of the plurality of volumes when the pose graph is in the first state, update the pose graph to a second state, using an update of one or more of the nodes and one or more of the links, for each volume of the plurality of volumes, to maintain the shared vertices when the pose graph is in the second state, change a shape of at least one volume of the plurality of volumes, and reconstruct a surface in one or more of the volumes according to the second state of the pose graph. - View Dependent Claims (12, 13, 14, 15)
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16. A processor-readable memory having processor-readable software embodied thereon for programming a processor to perform a method for reconstructing a physical space, the method comprising:
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partitioning a physical space into a plurality of volumes, each volume of the plurality of volumes comprises vertices; for each volume of the plurality of volumes, obtaining a depth map of the physical space; providing a pose graph in a first state, the pose graph in the first state comprising a plurality of nodes and links between nodes of the plurality of nodes; for each volume of the plurality of volumes, anchoring the vertices of the volume to at least two different points in the pose graph in the first state, the vertices of the volume comprise shared vertices, the shared vertices are shared with an adjacent volume of the plurality of volumes when the pose graph is in the first state; updating the pose graph to a second state, the updating comprising updating one or more of the nodes and one or more of the links; and for each volume of the plurality of volumes, maintaining the shared vertices when the pose graph is in the second state, wherein the maintaining the shared vertices results in changing a shape of at least one volume of the plurality of volumes. - View Dependent Claims (17, 18, 19, 20)
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Specification