Forming 3D models using two images
First Claim
1. A method for determining a three-dimensional model from two images the method implemented at least in part by a data processing system and comprising the steps of:
- receiving a first image captured from a first viewpoint, the first image including a first two-dimensional image together with a corresponding first range map;
receiving a second image captured from a second viewpoint, the second image including a second two-dimensional image together with a corresponding second range map, the second viewpoint being different from the first viewpoint;
identifying a set of corresponding features in the first and second two-dimensional images;
removing any extraneous corresponding features in the set of corresponding features responsive to the first and second range maps to produce a refined set of corresponding features;
determining a geometrical transform for transforming three-dimensional coordinates for the first image to be consistent three-dimensional coordinates for the second image responsive to three-dimensional coordinates for the refined set of corresponding features, the three-dimensional coordinates comprising two-dimensional pixel coordinates from the corresponding two-dimensional image together with a range coordinate from the corresponding range map;
determining a three-dimensional model responsive to the first image, the second image and the geometrical transform; and
storing the three-dimensional model in a processor-accessible memory system.
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Accused Products
Abstract
A method for determining a three-dimensional model from two images comprising: receiving first and second images captured from first and second viewpoints, respectively, each image including a two-dimensional image together with a corresponding range map; identifying a set of corresponding features in the first and second two-dimensional images; removing any extraneous corresponding features in the set of corresponding features responsive to the first and second range maps to produce a refined set of corresponding features; determining a geometrical transform for transforming three-dimensional coordinates for the first image to be consistent three-dimensional coordinates for the second image responsive to three-dimensional coordinates for the refined set of corresponding features, the three-dimensional coordinates comprising two-dimensional pixel coordinates from the corresponding two-dimensional image together with a range coordinate from the corresponding range map; and determining a three-dimensional model responsive to the first image, the second image and the geometrical transform.
21 Citations
14 Claims
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1. A method for determining a three-dimensional model from two images the method implemented at least in part by a data processing system and comprising the steps of:
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receiving a first image captured from a first viewpoint, the first image including a first two-dimensional image together with a corresponding first range map; receiving a second image captured from a second viewpoint, the second image including a second two-dimensional image together with a corresponding second range map, the second viewpoint being different from the first viewpoint; identifying a set of corresponding features in the first and second two-dimensional images; removing any extraneous corresponding features in the set of corresponding features responsive to the first and second range maps to produce a refined set of corresponding features; determining a geometrical transform for transforming three-dimensional coordinates for the first image to be consistent three-dimensional coordinates for the second image responsive to three-dimensional coordinates for the refined set of corresponding features, the three-dimensional coordinates comprising two-dimensional pixel coordinates from the corresponding two-dimensional image together with a range coordinate from the corresponding range map; determining a three-dimensional model responsive to the first image, the second image and the geometrical transform; and storing the three-dimensional model in a processor-accessible memory system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system comprising:
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a data processing system; and a memory system communicatively connected to the data processing system and storing instructions configured to cause the data processing system to implement a method for determining a three-dimensional model from two images, wherein the instructions comprise; receiving a first image captured from a first viewpoint, the first image including a first two-dimensional image together with a corresponding first range map; receiving a second image captured from a second viewpoint, the second image including a second two-dimensional image together with a corresponding second range map, the second viewpoint being different from the first viewpoint; identifying a set of corresponding features in the first and second two-dimensional images; removing any extraneous corresponding features in the set of corresponding features responsive to the first and second range maps to produce a refined set of corresponding features; determining a geometrical transform for transforming three-dimensional coordinates for the first image to be consistent three-dimensional coordinates for the second image responsive to three-dimensional coordinates for the refined set of corresponding features, the three-dimensional coordinates comprising two-dimensional pixel coordinates from the two-dimensional image together with a range coordinate from the corresponding range map; determining a three-dimensional model responsive to the first image, the second image and the geometrical transform; and storing the three-dimensional model.
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14. A computer program product embodied on a non-transitory tangible computer readable storage medium for determining a three-dimensional model from two images comprising an executable software application for causing a data processing system to perform the steps of:
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receiving a first image captured from a first viewpoint, the first image including a first two-dimensional image together with a corresponding first range map; receiving a second image captured from a second viewpoint, the second image including a second two-dimensional image together with a corresponding second range map, the second viewpoint being different from the first viewpoint; identifying a set of corresponding features in the first and second two-dimensional images; removing any extraneous corresponding features in the set of corresponding features responsive to the first and second range maps to produce a refined set of corresponding features; determining a geometrical transform for transforming three-dimensional coordinates for the first image to be consistent three-dimensional coordinates for the second image responsive to three-dimensional coordinates for the refined set of corresponding features, the three-dimensional coordinates comprising two-dimensional pixel coordinates from the two-dimensional image together with a range coordinate from the corresponding range map; determining a three-dimensional model responsive to the first image, the second image and the geometrical transform; and storing the three-dimensional model in a processor-accessible memory system.
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Specification