MIXED THREE DIMENSIONAL SCENE RECONSTRUCTION FROM PLURAL SURFACE MODELS
First Claim
1. A method of modeling a three-dimensional object from plural image data sources, the method comprising:
- providing a first point cloud including a first plurality of points defined in space, the first plurality of points being derived from a first one or more images of the object, the first one or more images being of a first image type, each point in the first plurality representing a location on a surface of the three-dimensional object, and each point in the first plurality having a first confidence value on a first confidence scale;
providing a second point cloud including a second plurality of points defined in space, the second plurality of points being derived from a second one or more images of the object, the second one or more images being of a second image type, each point in the second plurality representing a location on the surface of the three-dimensional object, and each point in the second plurality having a second confidence value on a second confidence scale;
merging the first plurality and the second plurality of points into a third merged point cloud, each point in the third merged point cloud representing a location on the surface of the object, including;
normalizing one of the first or second confidence scales with the respective second or first confidence scale; and
for each location of the object for which a corresponding point exists in both the first point cloud and the second point cloud, selecting the point for inclusion in the merged point cloud from either the first point cloud or the second point cloud having a greater first or second normalized confidence value.
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Abstract
A three-dimensional (3D) scene is computationally reconstructed using a combination of plural modeling techniques. Point clouds representing an object in the 3D scene are generated by different modeled techniques and each point is encoded with a confidence value which reflects a degree of accuracy in describing the surface of the object in the 3D scene based on strengths and weaknesses of each modeling technique. The point clouds are merged in which a point for each location on the object is selected according to the modeling technique that provides the highest confidence.
74 Citations
20 Claims
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1. A method of modeling a three-dimensional object from plural image data sources, the method comprising:
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providing a first point cloud including a first plurality of points defined in space, the first plurality of points being derived from a first one or more images of the object, the first one or more images being of a first image type, each point in the first plurality representing a location on a surface of the three-dimensional object, and each point in the first plurality having a first confidence value on a first confidence scale; providing a second point cloud including a second plurality of points defined in space, the second plurality of points being derived from a second one or more images of the object, the second one or more images being of a second image type, each point in the second plurality representing a location on the surface of the three-dimensional object, and each point in the second plurality having a second confidence value on a second confidence scale; merging the first plurality and the second plurality of points into a third merged point cloud, each point in the third merged point cloud representing a location on the surface of the object, including; normalizing one of the first or second confidence scales with the respective second or first confidence scale; and for each location of the object for which a corresponding point exists in both the first point cloud and the second point cloud, selecting the point for inclusion in the merged point cloud from either the first point cloud or the second point cloud having a greater first or second normalized confidence value. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A computing device configured for modeling a three-dimensional object from plural image data sources, the computing device comprising:
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one or more processors; a network interface for supporting communications with the rendering device; and one or more memories storing computer-readable instructions which, when executed by the one or more processors, cause the one or more processors to perform a method for controlling access to data from the remote client device comprising the steps of; provide a first point cloud including a first plurality of points defined in space, the first plurality of points being derived from a first one or more images of the object, the first one or more images being of a first image type, each point in the first plurality representing a location on a surface of the three-dimensional object, and each point in the first plurality having a first confidence value on a first confidence scale; provide a second point cloud including a second plurality of points defined in space, the second plurality of points being derived from a second one or more images of the object, the second one or more images being of a second image type, each point in the second plurality representing a location on the surface of the three-dimensional object, and each point in the second plurality having a second confidence value on a second confidence scale; merge the first plurality and the second plurality of points into a third merged point cloud, each point in the third merged point cloud representing a location on the surface of the object, including; normalizing one of the first and second confidence scales with the respective second or first confidence scale; and for each location of the object for which a corresponding point exists in both the first point cloud and the second point cloud, selecting the point for inclusion in the merged point cloud from either the first point cloud or the second point cloud having a greater first or second normalized confidence value. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A system for modeling a three-dimensional object from plural image data sources, the system comprising:
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first and second image capture devices, the first and second image capture devices each being operative to produce image data representing an image of the three-dimensional object, at least one of the first or second image capture devices further being operative to produce image data representing a silhouette image of the object; and a computing device configured for modeling a three-dimensional object from plural image data sources, the computing device including one or more processors; a network interface for supporting communications with the rendering device; and one or more memories storing computer-readable instructions which, when executed by the one or more processors, cause the one or more processors to perform a method for modeling a three-dimensional object comprising the steps of; provide a first point cloud including a first plurality of points defined in space, the first plurality of points being derived from a first one or more images of the object, the first one or more images being of a first image type, each point in the first plurality representing a location on a surface of the three-dimensional object, and each point in the first plurality having a first confidence value on a first confidence scale; provide a second point cloud including a second plurality of points defined in space, the second plurality of points being derived from a second one or more images of the object, the second one or more images being of a second image type, each point in the second plurality representing a location on the surface of the three-dimensional object, and each point in the second plurality having a second confidence value on a second confidence scale; merge the first plurality and the second plurality of points into a third merged point cloud, each point in the third merged point cloud representing a location on the surface of the object, including; normalizing one of the first and second confidence scales with the respective second or first confidence scale; and for each location of the object for which a corresponding point exists in both the first point cloud and the second point cloud, selecting the point for inclusion in the merged point cloud from either the first point cloud or the second point cloud having a greater first or second normalized confidence value. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification