Method for combining the computer models of two surfaces in 3-D space

• US 6,535,839 B1
• Filed: 05/19/2000
• Issued: 03/18/2003
• Est. Priority Date: 09/22/1998
• Status: Expired due to Term

• Current Assignee: Intel Corporation
• Original Assignee: Intel Corporation
• Inventors: Korta, Jean-Charles, Mack, Walter J.
• Primary Examiner(s): Broda, Samuel
• Application Number:
  US09/574,284
• Time in Patent Office: 1,033 Days
• Field of Search: 703/1-8, 433/29, 382/124, 382/151, 382/420, 600/414, 600/426, 356/399, 345/419-427, 345/581-618
• US Class Current: 703/7
• CPC Class Codes: G01B 2210/52 Combining or merging partially overlapping images to an overall image
• CPC Class Codes: G06T 17/20 Finite element generation, e.g. wire-frame surface description, tesselation
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

A method and apparatus pertains to aligning and/or stitching together several 3-D fragments. The steps comprise determining at least two fragments having a corresponding set of alignment marks and aligning at least two fragments with respect to a coordinate system using the corresponding set of alignment marks in the respective fragments.

Claims

1. An apparatus comprising a machine readable medium containing instructions which, when executed by the machine, cause the machine to perform operations comprising:

determining a plurality of first hull edges of a first fragment that enters into a second fragment, wherein determining the plurality of first hull edges of the first fragment that enters into the second fragment further comprises determining an entry and an exit of first hull edges by determining a rotational position of a first hull edge of said first fragment with respect to a crossed second hull edge of said second fragment;

forming a plurality of faces corresponding to said plurality of first hull edges on said second fragment;

propagating said plurality of faces in said second fragment overlapping said first fragment;

eliminating a portion of said second fragment having said plurality of faces; and

stitching a first fragment and a remaining second fragment to form an integrated fragment.

2. The apparatus of claim 1, wherein determining the plurality of first hull edges of the first fragment that enters into the second fragment further comprises:

forming a patch with respect to a first hull edge;

projecting said first hull edge on to a plane normal to said patch;

projecting a plurality of second hull edges to said plane;

if said first hull edge crosses one of said plurality of second hull edges then designating said first hull edge and said crossed second hull edge;

if said first hull edge does not cross one of said plurality of second hull edges then moving to a next first hull edge.

3. The apparatus of claim 1, wherein forming further comprises:

determining a crossing between a first hull edge and a second hull edge;

forming a face using said crossed second hull edge and a plurality of edges corresponding to vertices in said second fragment.

4. The apparatus of claim 3, wherein forming further comprises:

determining an edge in said plurality of edges in which a first hull edge exits;

forming another face using said edge and another plurality of edges corresponding to vertices in said second fragment.

5. The apparatus of claim 1 wherein propagating further comprises marking said faces.

6. The apparatus of claim 5 further containing instructions which, when executed by a machine, cause the machine to perform operations including:

coloring said edges of said marked faces;

determining reverse edges in said marked faces in an overlapped region between said first fragment and said second fragment;

forming faces using said reverse edges and a plurality of edges corresponding to vertices in said second fragment.

7. The apparatus of claim 5, wherein eliminating comprises eliminating said plurality of marked faces.

8. The apparatus of claim 1, further containing instructions which, when executed by a machine, cause the machine to perform operations including generating a texture for the integrated fragment.