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Three-dimensional environment reconstruction

  • US 8,587,583 B2
  • Filed: 01/31/2011
  • Issued: 11/19/2013
  • Est. Priority Date: 01/31/2011
  • Status: Active Grant
First Claim
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1. A computer-implemented method of generating a 3D model of a real-world environment, comprising:

  • creating a three-dimensional volume in a memory device for storing the model, the volume comprising a plurality of voxels;

    receiving data describing a location and orientation of a capture device and a depth image of at least a portion of the environment output from the capture device, the depth image comprising a plurality of pixels, each indicating a distance from the capture device to a point in the environment;

    assigning a separate execution thread to each voxel in a plane of the volume;

    each execution thread using the capture device location and orientation to determine a corresponding location in the depth image for its associated voxel, determining a factor relating to the distance between the associated voxel and the point in the environment at the corresponding location, and updating a stored value at the associated voxel using the factor; and

    each execution thread iterating through an equivalent voxel in each remaining plane of the volume and repeating the steps of determining the factor and updating the stored value for each voxel,wherein the step of updating the stored value at the associated voxel using the factor comprises summing the factor with a previous value stored at the associated voxel or wherein the step of determining the factor comprises calculating a signed distance function between the associated voxel and the point in the environment at the corresponding location, such that if the associated voxel is located at a first side of the point, then the factor has a positive value, and if the associated voxel is located at an opposite side of the point, then the factor has a negative value.

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