Virtual environment capture

• US 7,398,481 B2
• Filed: 05/20/2003
• Issued: 07/08/2008
• Est. Priority Date: 12/10/2002
• Status: Expired due to Fees

• Current Assignee: Leidos, Inc. (Leidos Holdings, Inc.)
• Original Assignee: Science Applications International Corporation
• Inventors: Kraus, Matthew, Graniela, Benito, Pigora, Mary
• Primary Examiner(s): Huynh; Ba
• Assistant Examiner(s): BECKER, SHASHI KAMALA
• Application Number:
  US10/441,121
• Publication Number:
  US 20040109012A1
• Time in Patent Office: 1,876 Days
• Field of Search: 715/757, 715/766, 715848-852, 345/419, 345/58, 345/632, 345/633
• US Class Current: 715/848
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G06T 2200/08 involving all processing steps from image acquisition to 3D model generation
• CPC Class Codes: G06T 7/50 Depth or shape recovery

Abstract

A system and method for capturing and modeling an environment is described. A user may direct a rangefinder within an environment to capture data points and correlate the data points with predefined objects. One may also capture images of the environment to be used in the modeling environment. Using the present system, one may easily and quickly capture an environment using relatively few data points.

Claims

1. Apparatus for modeling a plurality of physical objects in a real environment, comprising:

a mobile data capture unit comprising a rangefinder and a user interface configured to display a plurality of virtual objects each corresponding to a physical object, wherein each displayed virtual object includes one or more location points indicating where a user should aim the rangefinder to measure a part of a corresponding physical object, wherein the user interface is configured to display a plurality of location points for each virtual object, each location point indicating where the user should aim the rangefinder to measure the corresponding physical object; and

a data assembly station configured to orient one or more of the virtual objects in a modeled environment based on one or more measurements taken by the rangefinder in the real environment, wherein the data assembly station is configured to orient an angle of the virtual object in the modeled environment on the basis of a plurality of measurements from the rangefinder.

2. The apparatus of claim 1, wherein the mobile data capture unit comprises a camera configured to receive an image of a physical object corresponding to one of the virtual objects.

3. The apparatus of claim 2, wherein the apparatus is configured to store the image of the physical object as part of a virtual object in the modeled environment.

4. The apparatus of claim 1, wherein the data assembly station is configured to modify a size of the one or more oriented virtual objects based on measurements received from the rangefinder.

5. The apparatus of claim 1, wherein the user interface is configured to allow a user to select one of the plurality of virtual objects and place it in the modeled environment prior to taking measurements with the rangefinder.

6. The apparatus of claim 1, wherein the mobile data capture unit and data assembly station are combined into a single unit.

7. The apparatus of claim 1, wherein the mobile data capture unit and data assembly station are separate units.

8. The apparatus of claim 1, wherein the mobile data capture unit comprises a multi-jointed arm supporting the rangefinder and a camera.

9. The apparatus of claim 1, wherein the mobile data capture unit is configured to receive user input indicating that the rangefinder has been aimed at one of the location points on a corresponding physical object and, in response thereto, storing a distance obtained from the rangefinder.

10. Apparatus for modeling a plurality of physical objects in a real environment, comprising:

means for displaying a plurality of virtual objects each corresponding to a physical object, wherein each displayed virtual object includes one or more location points indicating where a user should measure a corresponding physical object, wherein a user interface is configured to display a plurality of location points for each virtual object, each location point indicating where a user should aim a rangefinder to measure the corresponding physical object;

means for determining a distance to one of the plurality of physical objects in the real environment; and

means for orienting one or more of the virtual objects in a modeled environment based on one or more measurements taken in the real environment by the means for determining a distance, wherein a data assembly station is configured to orient an angle of the virtual object in the modeled environment on the basis of a plurality of measurements from the rangefinder.

11. The apparatus of claim 10, wherein the means for detecting comprises a laser rangefinder.

12. A method of modeling physical objects in a real environment, comprising the steps of:

(1) causing to be displayed on a computer display a plurality of virtual objects and displaying, for each virtual object, one or more location points indicating where a user should aim a rangefinder to measure a corresponding physical object, wherein a user interface is configured to display a plurality of location points for each virtual object, each location point indicating where a user should aim a rangefinder to measure the corresponding physical object;

(2) receiving a selection of one of the virtual objects and placing the selected virtual object into a modeled environment;

(3) receiving one or more measurements of the corresponding physical object from a rangefinder in response to user-selected points on the corresponding physical object; and

(4) orienting the selected virtual object in the modeled environment based on the received one or more measurements, wherein a data assembly station is configured to orient an angle of the virtual object in the modeled environment on the basis of a plurality of measurements from the rangefinder.

13. The method of claim 12, wherein step (1) comprises the step of displaying a plurality of location points for the virtual object;

wherein step (3) comprises the step of receiving a plurality of measurements of the corresponding physical object, and wherein step (4) comprises the step of orienting an angle of the virtual object in the modeled environment.

14. The method of claim 13, wherein step (1) comprises the step of displaying an ordered plurality of location points for the virtual object, and wherein step (3) comprises the step of receiving the plurality of measurements in the ordered plurality.

15. The method of claim 12, wherein step (3) comprises the step of receiving one or more measurements each taken from a point on the physical object corresponding to one of the location points associated with the selected virtual object.

16. The method of claim 12, further comprising the step of capturing an image of the physical object and registering the image with the virtual object in the modeled environment.