System and method for determining structure and motion using multiples sets of images from different projection models for object modeling
First Claim
1. A method for performing multi-resolution modeling of a three-dimensional object comprising:
- obtaining full and weak perspective views of the object as two-dimensional images;
digitally combining the images; and
producing combination data defined by epipolar geometrical representations of the object and digitally reconstructing the object from the combination data.
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Abstract
The present invention is embodied in systems and methods for determining structure and motion of a three-dimensional (3D) object using two-dimensional (2D) images of the object obtained from multiple sets of views with different projection models, such as from a full perspective view and a weak perspective views. A novel fundamental matrix is derived that embodies the epipolar geometry between a full perspective view and a weak perspective view. The systems and methods of the present invention preferably uses the derived fundamental matrix together with the 2D image information of the full and weak perspective views to digitally reconstruct the 3D object and produce results with multi-resolution processing techniques. These techniques include recovering and refining motion parameters and recovering and refining structure parameters of the fundamental matrix. The results can include, for example, 3D positions of points, camera position between different views, texture maps, and the like.
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Citations
25 Claims
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1. A method for performing multi-resolution modeling of a three-dimensional object comprising:
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obtaining full and weak perspective views of the object as two-dimensional images;
digitally combining the images; and
producing combination data defined by epipolar geometrical representations of the object and digitally reconstructing the object from the combination data. - View Dependent Claims (2, 3, 4)
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5. A method for modeling a three-dimensional object comprising:
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obtaining a first view of the object from a first projection model as two-dimensional first image;
obtaining a second view of the object from a second projection model different from the first projection model as two-dimensional second image;
digitally combining the first and second images;
producing epipolar geometrical representations of the images with a matrix defined by motion and structure parameters; and
digitally reconstructing the object from the parameters of the matrix. - View Dependent Claims (6, 7, 8, 9)
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10. A multi-resolution modeling system for digitally modeling three-dimensional objects comprising:
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a camera that obtains a first view of the object from a first projection model as a first two-dimensional image and a second view of the object from a second projection model different than the first projection model as a second two-dimensional image;
a digital processor that combines the images and produces epipolar geometrical representations of the object with a matrix defined by motion and structure parameters; and
a reconstruction processor that reconstructs the object from the parameters of the matrix. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A computer-readable storage device encoded with a set of instructions for digitally modeling three-dimensional objects, the set of instructions comprising:
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capturing multiple views of the object from differing projection models as two-dimensional images;
a digital processor that combines the images and produces epipolar geometrical representations of the object with a matrix defined by motion and structure parameters; and
a reconstruction processor that reconstructs the object from the parameters of the matrix. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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Specification