×

Geoaccurate three-dimensional reconstruction via image-based geometry

  • US 9,466,143 B1
  • Filed: 05/03/2013
  • Issued: 10/11/2016
  • Est. Priority Date: 05/03/2013
  • Status: Active Grant
First Claim
Patent Images

1. A method of generating a three-dimensional reconstruction of a scene, the method comprising:

  • generating a high-fidelity point cloud representing a three-dimensional reconstruction of a scene from a plurality of two-dimensional images generated by at least one sensor whose position and orientation are known relative to a fixed coordinate system for each of the two-dimensional images, the high-fidelity point cloud being generated in a relative coordinate system without regard to the position and orientation of the at least one sensor relative to the fixed coordinate system;

    generating in the fixed coordinate system a low-fidelity point cloud representing a three-dimensional reconstruction of the scene from the plurality of two-dimensional images using the position and orientation of the at least one sensor relative to the fixed coordinate system such that the high-fidelity point cloud and the low-fidelity point cloud are generated from the same plurality of two-dimensional images, the low-fidelity point cloud having a lower fidelity than the high-fidelity point cloud due to physical sensor model errors in the position and orientation of the at least one sensor;

    determining a transformation between the relative coordinate system and the fixed coordinate system based on a relationship between points in the high-fidelity point cloud and corresponding points in the low-fidelity point cloud; and

    converting the high-fidelity point cloud from the relative coordinate system to the fixed coordinate system by applying the transformation to points in the high-fidelity point cloud, wherein an impact of the physical sensor model errors on the high-fidelity point cloud in the fixed coordinate system is limited to errors introduced in the transformation.

View all claims
  • 2 Assignments
Timeline View
Assignment View
    ×
    ×