Interpolating oriented disks in 3D space for constructing high fidelity geometric proxies from point clouds
First Claim
1. A computer-implemented process for constructing implicit surfaces from point clouds, comprising using a computing device to perform process actions for:
- receiving an oriented point cloud, each point in the cloud having a normal direction;
for each point in the cloud, identifying a set of closest neighboring points within a radius around each point;
defining a set of oriented disks, such that for each point in the cloud, a corresponding one of the oriented disks is delimited by the position, normal and radius of the corresponding point;
for each node in a volumetric grid, identifying a corresponding set of neighboring oriented disks as any oriented disk that is closer to the node than the radius of that oriented disk;
for each node having a set of neighboring oriented disks, computing a signed distance as a weighted average of a signed distance to each neighboring oriented disk; and
delimiting an implicit surface corresponding to the oriented point cloud by using the signed distances of each node to construct a signed distance function on the volumetric grid.
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Abstract
An “Oriented Disk Interpolator” provides various techniques for interpolating between points in a point cloud using RGB images (or images in other color spaces) to produce a smooth implicit surface representation that can then be digitally sampled for ray-tracing or meshing to create a high fidelity geometric proxy from the point cloud. More specifically, the Oriented Disk Interpolator uses image color-based consistency to build an implicit surface from oriented points and images of the scene by interpolating disks in 3D space relative to a point cloud of a scene or objects within the scene. The resulting implicit surface is then available for a number of uses, including, but not limited to, constructing a high fidelity geometric proxy.
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Citations
20 Claims
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1. A computer-implemented process for constructing implicit surfaces from point clouds, comprising using a computing device to perform process actions for:
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receiving an oriented point cloud, each point in the cloud having a normal direction; for each point in the cloud, identifying a set of closest neighboring points within a radius around each point; defining a set of oriented disks, such that for each point in the cloud, a corresponding one of the oriented disks is delimited by the position, normal and radius of the corresponding point; for each node in a volumetric grid, identifying a corresponding set of neighboring oriented disks as any oriented disk that is closer to the node than the radius of that oriented disk; for each node having a set of neighboring oriented disks, computing a signed distance as a weighted average of a signed distance to each neighboring oriented disk; and delimiting an implicit surface corresponding to the oriented point cloud by using the signed distances of each node to construct a signed distance function on the volumetric grid. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A computer-readable memory device having computer executable instructions stored therein for generating implicit surfaces from point clouds, said instructions causing a computing device to execute a method comprising:
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constructing a point cloud from 3D image data of a scene and determining a normal for each point to create an oriented point cloud; for each point in the cloud, identifying a set of the closest n neighboring points around each point and determining a radius around each point as a function of the number and distances of those neighboring points; defining a set of oriented disks, such that for each point in the cloud, a corresponding one of the oriented disks is delimited by the position, normal and radius of the corresponding point; for each node in a volumetric grid, identifying a corresponding set of neighboring oriented disks as any oriented disk that is closer to the node than the radius of that oriented disk; for each node having a set of neighboring oriented disks, computing a signed distance as a function of the distances from the node to each neighboring oriented disk; and delimiting an implicit surface corresponding to the oriented point cloud by using the signed distances of each node to construct a signed distance function on the volumetric grid. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A computer-implemented process for creating an implicit surface representation of a 3D scene, comprising using a computing device to perform process actions for:
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constructing a point cloud from 3D image data of a scene and determining a normal for each point to create an oriented point cloud; for each point in the cloud, identifying a set of the closest n neighboring points around each point and determining a radius around each point as a function of the number and distances of those neighboring points; defining a set of oriented disks, such that for each point in the cloud, a corresponding one of the oriented disks is delimited by the position, normal and radius of the corresponding point; determining oriented disk colors from the 3D image data; for each node in a volumetric grid, identifying a corresponding set of neighboring oriented disks as any oriented disk that is closer to the node than the radius of that oriented disk; for each node having a set of neighboring oriented disks, computing a signed distance as a function of the distances from the node to each neighboring oriented disk; determining a color of each grid node based on the colors of each neighboring oriented disk; and delimiting an implicit surface corresponding to the oriented point cloud by using the signed distances and colors of each node to construct a signed distance function on the volumetric grid. - View Dependent Claims (18, 19, 20)
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Specification