Method for displaying a virtual image

• US 9,338,423 B2
• Filed: 12/22/2008
• Issued: 05/10/2016
• Est. Priority Date: 12/27/2007
• Status: Active Grant

• Current Assignee: Saab AB
• Original Assignee: Saab AB
• Inventors: Andersson, Ingmar, Isaksson, Folke, Haglund, Leif
• Primary Examiner(s): Chauhan, Ulka
• Assistant Examiner(s): Valdez, Patrick F
• Application Number:
  US12/810,352
• Publication Number:
  US 20110019904A1
• Time in Patent Office: 2,696 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/20088 Trinocular vision calculations; trifocal tensor
• CPC Class Codes: G06T 2207/30181 Earth observation
• CPC Class Codes: G06T 7/596 from three or more stereo images
• CPC Class Codes: H04N 13/10 Processing, recording or transmission of stereoscopic or multi-view image signals

Abstract

A method for displaying a virtual image of three dimensional objects in an area using stereo recordings of the area for storing a pixel and a height for each point of the area. A method is obtained of enabling displaying of vertical surfaces or even slightly downwards and inwards inclined surfaces. Stereo recordings from at least three different stereo recordings of different solid angles are used. For each different solid angle at least one data base including data about texture and height pixel point wise is established. Data for displaying the virtual image are combined from the different data bases in dependence of the direction in which the virtual image is to be displayed.

Claims

1. A method for displaying a virtual image of three dimensional objects in an area using stereo recordings of the area for storing a pixel and a height for each point of the area, the method comprising:

covering the area using stereo recordings from at least three different stereo recordings of different solid angles, the solid angles surrounding the area and converging toward a center of the area,

establishing for each different solid angle at least one data base comprising data about, position, texture and height pixel point wise for that solid angle, wherein the databases include information about all vertical and inclined surfaces in the area, and

combining the data for displaying the virtual image on a pixel point level from the different data bases in dependence of an arbitrary direction about the area in which the virtual image is to be displayed.

2. The method according to claim 1, wherein the data for displaying the virtual image for a solid angle are combined from data bases connected to two or more stereo recordings.

3. The method according to claim 1, wherein the data for displaying the virtual image are chosen from the data bases connected to the stereo recording closest in angle to the direction in which the virtual image is to be displayed.

4. The method according to claim 1, wherein three different stereo recordings are used having solid angle projections in a ground plane separated substantially 120 degrees from each other to cover an azimuth of substantially 120 degrees each, and wherein the data are fetched from the data bases covering an azimuth that the projection of the direction in the ground plane of the virtual image to be displayed points out.

5. The method according to claim 4, wherein the different stereo recordings are recorded about 30 degrees from a vertical line perpendicular to the ground plane.

6. The method according to claim 1, wherein four different stereo recordings are used having solid angles projections in a ground plane separated substantially 90 degrees from each other to cover an azimuth of substantially 90 degrees each, and wherein the data are fetched from the data bases covering an azimuth that the projection of the direction in the ground plane of the virtual image to be displayed points out.

7. The method according to claim 6, wherein the different stereo recordings are recorded about 45 degrees from a vertical line perpendicular to the ground plane.

8. The method according to claim 1, wherein an additional stereo recording substantially perpendicular to a ground plane is used to cover a circular solid angle from which data base data are fetched for directions of the virtual image to be displayed perpendicular to or almost perpendicular to the ground plane.

9. The method according to claim 1, wherein the data from more than one data base are interpolated close to transitions between different stereo recordings.

10. The method according to claim 1, wherein the heights are expressed as angular heights.

11. The method according to claim 1, wherein information about recording angle is stored in the data bases in addition to texture and height information.

12. The method according to claim 1, wherein information from the different data bases are used to calculate measures of objects.

13. The method according to claim 12, wherein the measures of objects comprise distances, areas or volumes.

14. The method according to claim 1, wherein the stereo recordings are captured at different times.

15. The method according to claim 1, wherein the stereo recordings are captured by one stereo recorder.

18. The method according to claim 1, wherein all vertical surfaces are visible in one or more of the databases.

16. A method for displaying a virtual image of three dimensional objects in an area using stereo recordings of the area for storing a pixel and a height for each point of the area, the method comprising:

covering the area using stereo recordings from at least three different stereo recordings of different solid angles, the solid angles surrounding the area and converging toward a center of the area,

establishing for each different solid angle at least one data base comprising data about, position, texture and height pixel point wise for that solid angle, wherein information about all vertical and inclined surfaces in the area can be obtained from the databases, and

combining the data for displaying the virtual image on a pixel point level angle from data bases connected to two or more stereo recordings in dependence of an arbitrary direction about the area in which the virtual image is to be displayed.

17. A method for displaying a virtual image of three dimensional objects in an area using stereo recordings of the area for storing a pixel and a height for each point of the area, the method comprising:

covering the area using stereo recordings from at least three different stereo recordings of different solid angles, the solid angles surrounding the area and converging toward a center of the area,

establishing for each different solid angle at least one data base comprising data about, position, texture and height pixel point wise for that solid angle, wherein information about all vertical and inclined surfaces in the area can be obtained from the databases, and

combining the data for displaying the virtual image on a pixel point level from the different data bases in dependence of an arbitrary direction about the area in which the virtual image is to be displayed and selecting the data from the data bases connected to the stereo recording closest in angle to the direction in which the virtual image is to be displayed.