Apparatus and methods of generation of textures with depth buffers

• US 7,164,785 B2
• Filed: 08/07/2002
• Issued: 01/16/2007
• Est. Priority Date: 08/07/2001
• Status: Active Grant

• Current Assignee: Southwest Research Institute
• Original Assignee: Southwest Research Institute
• Inventors: Peterson, Eric Conrad, Logan, Ryan Converse, Franke, Ernest August
• Primary Examiner(s): Mancuso; Joseph
• Assistant Examiner(s): SCHAFFER, JONATHAN C
• Application Number:
  US10/213,090
• Publication Number:
  US 20030031360A1
• Time in Patent Office: 1,623 Days
• Field of Search: 382/154, 382/199, 345419-422, 395/120, 348/47, 378/9, 378/15
• US Class Current: 382/154
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G06T 11/001 Texturing; Colouring; Generation of texture or colour inpainting G06T5/77

Abstract

A three dimensional (3-D) image is generated from a plurality of portions of an image of an object, each captured portion of the image is based on a scan width of an image capture device. A range finding device obtains at least one range data value for each captured portion of the image as at least one corresponding position in each captured portions of the image, and a base to which the image capture device and the range finding device are mounted moves in increments based on the scan width of the image capture device.

Claims

1. A system usable to capture a three dimensional (3-D) image data, comprising:

an image capture device that captures a plurality of portions of an image of an object, each captured portion of the image is based on a scan width of the image capture device;

a range finding device that is a separate device from the image capture device, and obtains at least one range data value for each captured portion of the image, the at least one range data value being different from captured image data, and corresponding to a position in each captured portion of the image;

a base to which the image capture device and the separate range finding device are mounted, the base adapted to move in increments based on the scan width of the image capture device; and

a processing system that processes the plurality of captured portions of the image and the at least one range data value corresponding to the at least one position in the captured portion of the image to form a 3-D image.

wherein, if a range data value is not obtained by the range finding device, the at least one range data value corresponding to the position in the captured portion of the image is set to a predetermined value, and

the processing system selects a range data value reference as a depth buffer in the 3-D image to which each of the at least one range data value is referenced.

2. The system of claim 1, further comprising a control system that controls an operation of the image capture device, an operation of the separate range finding device and a movement of the base.

3. The system of claim 1, further comprising a memory usable to store the plurality of captured portions of the image and the at least one range data value corresponding to the at least one position in each captured portion of the image.

4. The system of claim 1, further comprising a display coupled to the processing system to display the 3-D image.

5. The system of claim 1, wherein the image capture device captures a portion of the image of the object in one dimension.

6. The system of claim 1, wherein the image capture device captures a portion of the image of the object in two dimensions.

7. The system of claim 1, wherein the scan width of the image capture device is variable.

16. The system of claim 1, the base being mounted in a fixed position able to rotate around a fixed axis.

17. The system of claim 1, the base rotating the image capture device and the range finding device in increments in azimuth only.

8. A system usable to capture a three-dimensional (3-D) image data, comprising:

a base;

an image capture device mounted on the base;

a range finding device that is a separate device from the image capture device, and is mounted on the base such that at least one range data value is read by the range finding device, the at least one range data value being different from data captured by the image capture device, the at least one range data value corresponding to a position in a captured image of the image capture device;

a motor to rotate the base in an angular step increment that is no larger than a scan width of the image capture device; and

a processing system that processes the plurality of captured portions of the image and the at least one range data value corresponding to the at least one position in the captured portion of the image to form a 3-D image.

wherein, if a range data value is not obtained by the range finding device, the at least one range data value corresponding to the position in the captured portion of the image is set to a predetermined value, and

the processing system selects a range data value reference as a depth buffer in the 3-D image to which each of the at least one range data value is referenced.

9. The system of claim 8, wherein the scan width of the image capture device is variable.

10. A method of generating a three-dimensional (3-D) image data comprising:

capturing a portion of an image of an object with an image capture device;

obtaining at least one range data value for the captured portion of the image of the object with a range finding device that is a separate device from the image capture device, the range data value being different from captured image data, and relating to at least one corresponding position in the captured portion of the image; and

assembling the captured portion of the image with a previously captured portion of the image of the object;

selecting a range data value reference as a depth buffer to which each of the at least one range data values is referenced; and

processing the assembled captured portions of the image and, with each of at least one range data value corresponding to those captured portions referenced to the depth buffer, forming a 3-D image.

11. The method of claim 10, further comprising:

assembling the obtained at least one range value for the captured portion of the image with a previously obtained at least one range value for the previously captured portion of the image, the assembly based on at least one corresponding position in the captured portion of the image and the at least one corresponding position of the previously captured portion of the image.

13. The method of claim 10, wherein capturing a portion of an image includes capturing the portion of the image in one-dimension.

14. The method of claim 10, wherein capturing a portion of an image includes capturing the portion of the image in two dimensions.

15. The method of claim 10, further comprising:

moving in a step increment to capture a next portion of the image of the object.

12. The method of 10, further comprising:

displaying the 3-D image.