3-D reconstruction and registration
First Claim
1. A computer-implemented method for image processing, comprising:
- accessing multiple different images of an object taken by one or more cameras;
selecting one of the accessed images as a reference image;
identifying corresponding features between the reference image and one or more different ones of the accessed images;
determining first camera pose information for each accessed image based on one or more of the corresponding features, each first camera pose information indicative of a relationship between an imaging device and the object;
determining a first three-dimensional structure of the object based on first camera pose information of two of the accessed images;
generating a second three-dimensional structure and a second camera pose information for each accessed image based on the first three-dimensional structure and the first camera pose information for each accessed image;
projecting points of the reference image to the second three-dimensional structure based on the second camera pose information associated with the reference image;
re-projecting the projected points onto a second one of the accessed images based on the second camera pose information associated with the second one of the accessed images; and
using the re-projected points to register the second one of the accessed images in three dimensions.
2 Assignments
0 Petitions
Accused Products
Abstract
Generating three-dimensional information can include accessing multiple different images of an object taken by one or more cameras; selecting one of the accessed images as a reference image; identifying corresponding features between the reference image and one or more different ones of the accessed images; determining first camera pose information for each accessed image based on one or more of the corresponding features, each first camera pose information indicative of a relationship between an imaging device and the object; determining a first three-dimensional structure of the object based on first camera pose information of two of the accessed images; and generating a second three-dimensional structure and a second camera pose information for each accessed image based on the first three-dimensional structure and the first camera pose information for each accessed image.
133 Citations
27 Claims
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1. A computer-implemented method for image processing, comprising:
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accessing multiple different images of an object taken by one or more cameras; selecting one of the accessed images as a reference image; identifying corresponding features between the reference image and one or more different ones of the accessed images; determining first camera pose information for each accessed image based on one or more of the corresponding features, each first camera pose information indicative of a relationship between an imaging device and the object; determining a first three-dimensional structure of the object based on first camera pose information of two of the accessed images; generating a second three-dimensional structure and a second camera pose information for each accessed image based on the first three-dimensional structure and the first camera pose information for each accessed image; projecting points of the reference image to the second three-dimensional structure based on the second camera pose information associated with the reference image; re-projecting the projected points onto a second one of the accessed images based on the second camera pose information associated with the second one of the accessed images; and using the re-projected points to register the second one of the accessed images in three dimensions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A non-transitory computer readable medium encoded with a computer program, the program comprising instructions that when executed by data processing apparatus cause the data processing apparatus to perform operations comprising:
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accessing multiple different images of an object taken by one or more cameras; selecting one of the accessed images as a reference image; identifying corresponding features between the reference image and one or more different ones of the accessed images; determining first camera pose information for each accessed image based on one or more of the corresponding features, each first camera pose information indicative of a relationship between an imaging device and the object; determining a first three-dimensional structure of the object based on first camera pose information of two of the accessed images; generating a second three-dimensional structure and a second camera pose information for each accessed image based on the first three-dimensional structure and the first camera pose information for each accessed image; projecting points of the reference image to the second three-dimensional structure based on the second camera pose information associated with the reference image; re-projecting the projected points onto a second one of the accessed images based on the second camera pose information associated with the second one of the accessed images; and using the re-projected points to register the second one of the accessed images in three dimensions. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. An image processing system comprising:
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a memory configured to store multiple images of an object taken by one or more cameras; and processor electronics in communication with the memory, configured to perform operations comprising; accessing multiple different images of the object; selecting one of the accessed images as a reference image; identifying corresponding features between the reference image and one or more different ones of the accessed images; determining first camera pose information for each accessed image based on one or more of the corresponding features, each first camera pose information indicative of a relationship between an imaging device and the object; determining a first three-dimensional structure of the object based on first camera pose information of two of the accessed images; generating a second three-dimensional structure and a second camera pose information for each accessed image based on the first three-dimensional structure and the first camera pose information for each accessed image; projecting points of the reference image to the second three-dimensional structure based on the second camera pose information associated with the reference image; re-projecting the projected points onto a second one of the accessed images based on the second camera pose information associated with the second one of the accessed images; and using the re-projected points to register the second one of the accessed images in three dimensions. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27)
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Specification