AUTOMATED SPATIAL INDEXING OF IMAGES BASED ON FLOORPLAN FEATURES
First Claim
Patent Images
1. A method comprising:
- receiving a sequence of images from an image capture system, the sequence of images captured by a camera of the image capture system as the image capture system is moved along a camera path through an environment;
generating a first estimate of the camera path, the first estimate of the camera path specifying, for images in the sequence of images, a position of the image relative to a reference point;
obtaining a floorplan of the environment, the floorplan specifying positions of a plurality of physical features in the environment;
generating a combined estimate of the camera path based on the first estimate of the camera path and the positions of the plurality of physical features specified in the floorplan; and
generating an immersive model of the environment, the immersive model specifying, for each image of a plurality of the images, a location of the image within the floorplan and at least one route vector defining a spatial distance between the image and at least one of the other images of the plurality of images.
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Abstract
A spatial indexing system receives a sequence of images depicting an environment, such as a floor of a construction site, and performs a spatial indexing process to automatically identify the spatial locations at which each of the images were captured. The spatial indexing system also generates an immersive model of the environment and provides a visualization interface that allows a user to view each of the images at its corresponding location within the model.
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Citations
20 Claims
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1. A method comprising:
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receiving a sequence of images from an image capture system, the sequence of images captured by a camera of the image capture system as the image capture system is moved along a camera path through an environment; generating a first estimate of the camera path, the first estimate of the camera path specifying, for images in the sequence of images, a position of the image relative to a reference point; obtaining a floorplan of the environment, the floorplan specifying positions of a plurality of physical features in the environment; generating a combined estimate of the camera path based on the first estimate of the camera path and the positions of the plurality of physical features specified in the floorplan; and generating an immersive model of the environment, the immersive model specifying, for each image of a plurality of the images, a location of the image within the floorplan and at least one route vector defining a spatial distance between the image and at least one of the other images of the plurality of images. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform steps comprising:
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receiving a sequence of images from an image capture system, the sequence of images captured by a camera of the image capture system as the image capture system is moved along a camera path through an environment; generating a first estimate of the camera path, the first estimate of the camera path specifying, for images in the sequence of images, a position of the image relative to a reference point; obtaining a floorplan of the environment, the floorplan specifying positions of a plurality of physical features in the environment; generating a combined estimate of the camera path based on the first estimate of the camera path and the positions of the plurality of physical features specified in the floorplan; and generating an immersive model of the environment, the immersive model specifying, for each image of a plurality of the images, a location of the image within the floorplan and at least one route vector defining a spatial distance between the image and at least one of the other images of the plurality of images. - View Dependent Claims (16, 17, 18)
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19. A computing system comprising:
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a processor; a non-transitory computer-readable storage medium storing instructions that, when executed by the processor, cause the processor to perform steps comprising; receiving a sequence of images from an image capture system, the sequence of images captured by a camera of the image capture system as the image capture system is moved along a camera path through an environment; generating a first estimate of the camera path, the first estimate of the camera path specifying, for images in the sequence of images, a position of the image relative to a reference point; obtaining a floorplan of the environment, the floorplan specifying positions of a plurality of physical features in the environment; generating a combined estimate of the camera path based on the first estimate of the camera path and the positions of the plurality of physical features specified in the floorplan; and generating an immersive model of the environment, the immersive model specifying, for each image of a plurality of the images, a location of the image within the floorplan and at least one route vector defining a spatial distance between the image and at least one of the other images of the plurality of images. - View Dependent Claims (20)
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Specification