Method and apparatus for displaying a 2D image data set combined with a 3D rangefinder data set
First Claim
1. A method for displaying a 2D image data set obtained using a 2D imaging device combined with a 3D range data set obtained using a 3D rangefinder device, comprising:
- providing a 3D range data set;
providing at least one 2D image data set having a different resolution than the 3D range data set;
representing the 3D range data set as a first displayed image;
representing the at least one 2D image data set as at least a second displayed image;
identifying corresponding features within the first displayed image and within the at least one second displayed image respectively;
computing a 3D transformation between the 3D range data set and the at least one 2D image data set based on geometry of the identified corresponding features, such that geometric correspondence between the 3D range data set and the at least one 2D image data set is determined;
representing the at least one 2D image data set as a third displayed image; and
computing a 3D coordinate for a specified pixel of the third displayed image based on the previously computed 3D transformation and the 3D range data set.
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Accused Products
Abstract
Method, computer program product, and apparatus for displaying a 2D image data set combined with a 3D range data set. A 3D range data set and at least one 2D image data set which differs from the 3D range data set in resolution, origin, or both, are provided. The 3D range data set is represented as a first displayed image while each 2D image data set is represented as at least a second displayed image. Corresponding features are identified within each displayed image. 3D transformation is computed between the 3D range data set and at least one 2D image data set using the specified corresponding features to establish geometric correspondence. At least one 2D image data set is represented as a third displayed image, wherein a 3D coordinate can be computed for any specified pixel of each 2D image data set using the 3D transformation and 3D range data set.
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Citations
31 Claims
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1. A method for displaying a 2D image data set obtained using a 2D imaging device combined with a 3D range data set obtained using a 3D rangefinder device, comprising:
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providing a 3D range data set; providing at least one 2D image data set having a different resolution than the 3D range data set; representing the 3D range data set as a first displayed image; representing the at least one 2D image data set as at least a second displayed image; identifying corresponding features within the first displayed image and within the at least one second displayed image respectively; computing a 3D transformation between the 3D range data set and the at least one 2D image data set based on geometry of the identified corresponding features, such that geometric correspondence between the 3D range data set and the at least one 2D image data set is determined; representing the at least one 2D image data set as a third displayed image; and computing a 3D coordinate for a specified pixel of the third displayed image based on the previously computed 3D transformation and the 3D range data set. - View Dependent Claims (2, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 26, 27)
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3. A method for displaying a 2D image data set obtained using a 2D imaging device combined with a 3D range data set obtained using a 3D rangefinder device, comprising:
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providing a 3D range data set; providing at least one 2D image data set which differs from the 3D range data set in at least one of resolution, origin, and both resolution and origin; representing the 3D range data set as a first displayed image; representing the at least one 2D image data set as at least a second displayed image; identifying corresponding features within the first displayed image and within at least one second displayed image respectively; computing a 3D transformation between the 3D range data set and the at least one 2D image data set based on the geometry of the specified corresponding features, such that the geometric correspondence between the 3D range data set and at least one 2D image data set is determined; and representing the at least one 2D image data set as a third displayed image wherein a 3D coordinate can be computed for any specified pixel of the at least one 2D image data set based on the previously computed 3D transformation and the 3D range data set, wherein the step of representing the at least one 2D image data set as the third displayed image further comprises the steps of representing the 3D range data set as a fourth displayed image wherein a hot spot area associated with all or some of the at least one 2D image data set is indicated by highlighting therein, selecting the hot spot area interactively, and representing the at least one 2D image data set associated with the selected hot spot area as the third displayed image.
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18. A computer program product stored in computer readable media for execution in at least one processor for displaying a 2D image data set obtained using a 2D imaging device combined with a 3D range data set obtained using a 3D rangefinder device, comprising:
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a first software module for providing a first 3D range data set; a second software module for providing at least one 2D image data set having a different resolution than the 3D range data set; a third software module for representing the 3D range data set as a first displayed image; a fourth software module for representing the at least one 2D image data set as at least a second displayed image; a fifth software module for identifying corresponding features within the first displayed image and within at least one second displayed image respectively; a sixth software module for computing a 3D transformation between the 3D range data set and the at least one 2D image data set based on the geometry of the specified corresponding features, such that the geometric correspondence between the 3D range data set and at least one 2D image data set is determined; and a seventh software module for representing the at least one 2D image data set as a third displayed image and for computing a 3D coordinate for a specified pixel of the third displayed image based on the previously computed 3D transformation and the 3D range data set. - View Dependent Claims (19, 21, 28, 29)
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20. A computer program product stored in computer readable media for execution in at least one processor for displaying a 2D image data set obtained using a 2D imaging device combined with a 3D range data set obtained using a 3D rangefinder device, comprising:
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a first software module for providing a first 3D range data set; a second software module for providing at least one 2D image data set which differs from the 3D range data set in at least one of resolution, origin, and both resolution and origin; a third software module for representing the 3D range data set as a first displayed image; a fourth software module for representing the at least one 2D image data set as at least a second displayed image; a fifth software module for identifying corresponding features within the first displayed image and within at least one second displayed image respectively; a sixth software module for computing a 3D transformation between the 3D range data set and the at least one 2D image data set based on the geometry of the specified corresponding features, such that the geometric correspondence between the 3D range data set and at least one 2D image data set is determined; and a seventh software module for representing the at least one 2D image data set as a third displayed image wherein a 3D coordinate can be computed for any specified pixel of the at least one 2D image data set based on the previously computed 3D transformation and the 3D range data set, wherein the step of representing the at least one 2D image data set as the third displayed image further comprises the steps of representing the 3D range data set as a fourth displayed image wherein a hot spot area associated with all or some of the at least one 2D image data set is indicated by highlighting therein;
selecting the hot spot area interactively; and
representing the at least one 2D image data set associated with the selected hot spot area as the third displayed image.
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22. An apparatus for displaying a 2D image data set obtained using a 2D imaging device combined with a 3D range data set obtained using a 3D rangefinder device, comprising:
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at least one computer processor; a computer program product executing within the at least one computer processor, wherein the computer program product further comprises at least the following software modules therein; a first software module for providing a first 3D range data set; a second software module for providing at least one 2D image data set having a different resolution than the 3D range data set; a third software module for representing the 3D range data set as a first displayed image; a fourth software module for representing the at least one 2D image data set as at least a second displayed image; a fifth software module for identifying corresponding features within the first displayed image and within at least one second displayed image respectively; a sixth software module for computing a 3D transformation between the 3D range data set and the at least one 2D image data set based on the geometry of the specified corresponding features, such that the geometric correspondence between the 3D range data set and at least one 2D image data set is determined; and a seventh software module for representing the at least one 2D image data set as a third displayed image and for computing a 3D coordinate for a specified pixel of the third displayed image based on the previously computed 3D transformation and the 3D range data set. - View Dependent Claims (23, 25, 30, 31)
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24. An apparatus for displaying a 2D image data set obtained using a 2D imaging device combined with a 3D range data set obtained using a 3D rangefinder device, comprising:
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at least one computer processor; a computer program product executing within the at least one computer processor, wherein the computer program product further comprises at least the following software modules therein; a first software module for providing a first 3D range data set; a second software module for providing at least one 2D image data set which differs from the 3D range data set in at least one of resolution, origin, and both resolution and origin; a third software module for representing the 3D range data set as a first displayed image; a fourth software module for representing the at least one 2D image data set as at least a second displayed image; a fifth software module for identifying corresponding features within the first displayed image and within at least one second displayed image respectively; a sixth software module for computing a 3D transformation between the 3D range data set and the at least one 2D image data set based on the geometry of the specified corresponding features, such that the geometric correspondence between the 3D range data set and at least one 2D image data set is determined; and a seventh software module for representing the at least one 2D image data set as a third displayed image wherein a 3D coordinate can be computed for any specified pixel of the at least one 2D image data set based on the previously computed 3D transformation and the 3D range data set, wherein the step of representing the at least one 2D image data set as the third displayed image further comprises the steps of representing the 3D range data set as a fourth displayed image wherein a hot spot area associated with all or some of the at least one 2D image data set is indicated by highlighting therein;
selecting the hot spot area interactively; and
representing the at least one 2D image data set associated with the selected hot spot area as the third displayed image.
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Specification