Expanding a digital representation of a physical plane
First Claim
1. A method for constructing a digital representation of a physical plane from a physical scene, the method comprising:
- determining an orientation and an initial portion of a physical plane in the physical scene in three dimensional space;
generating a three dimensional rectified image, wherein the rectified image contains a fronto-parallel view of at least part of the physical plane and wherein the rectified image is generated by matching reference points in a plurality of two dimensional images of the physical plane captured from different locations with different distances to the reference points in the physical scene;
subdividing the rectified image into a plurality of grid cells;
for each of the plurality of grid cells, generating an image signature based on at least one image characteristic associated with said grid cell, wherein the at least one image characteristic comprises three dimensional information derived from the reference points;
selecting one or more initial grid cells contiguous to at least part of the initial portion of the physical plane to include as part of the digital representation of the physical plane;
comparing, as a first comparison, the image signature for each neighboring grid cell contiguous to the one or more initial grid cells to the image signature for one or more grid cells currently included in the digital representation of the physical plane; and
adding each grid cell that meets a predetermined threshold for the first comparison to the digital representation of the physical plane.
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Accused Products
Abstract
Techniques are presented for expanding a digital representation of a physical plane from a physical scene. In some aspects, a method may include determining an orientation and an initial portion of a physical plane in the scene, and subdividing a rectified image for the scene into a plurality of grid cells. For the grid cells, an image signature may be generated. A grid cell contiguous to the obtained initial portion of the plane is determined to include part of the plane. An iterative process may be performed for each neighboring grid cell from the grid cell contiguous to at least part of the obtained initial portion, determining whether the neighboring grid cell is to be included as part of the plane if the image signature of said neighboring grid cell is similar to the image signature of a grid cell already determined to be included as part of the plane.
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Citations
26 Claims
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1. A method for constructing a digital representation of a physical plane from a physical scene, the method comprising:
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determining an orientation and an initial portion of a physical plane in the physical scene in three dimensional space; generating a three dimensional rectified image, wherein the rectified image contains a fronto-parallel view of at least part of the physical plane and wherein the rectified image is generated by matching reference points in a plurality of two dimensional images of the physical plane captured from different locations with different distances to the reference points in the physical scene; subdividing the rectified image into a plurality of grid cells; for each of the plurality of grid cells, generating an image signature based on at least one image characteristic associated with said grid cell, wherein the at least one image characteristic comprises three dimensional information derived from the reference points; selecting one or more initial grid cells contiguous to at least part of the initial portion of the physical plane to include as part of the digital representation of the physical plane; comparing, as a first comparison, the image signature for each neighboring grid cell contiguous to the one or more initial grid cells to the image signature for one or more grid cells currently included in the digital representation of the physical plane; and adding each grid cell that meets a predetermined threshold for the first comparison to the digital representation of the physical plane. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An apparatus for constructing a digital representation of a physical plane from a physical scene, comprising:
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memory; one or more processors configured to; determine an orientation and an initial portion of a physical plane in the physical scene in three dimensional space; receive a plurality of two dimensional images of the physical plane; generate a three dimensional rectified image, wherein the rectified image contains a fronto-parallel view of at least part of the physical plane and wherein the rectified image is generated by matching reference points in the plurality of two dimensional images of the physical plane captured from different locations with different distances to the reference points in the physical scene; subdivide the rectified image into a plurality of grid cells; for each of the plurality of grid cells, generate an image signature based on at least one image characteristic associated with said grid cell, wherein the at least one image characteristic comprises three dimensional information derived from the reference points; select one or more initial grid cells contiguous to at least part of the initial portion of the physical plane to include as part of the digital representation of the physical plane; compare, as a first comparison, the image signature for each neighboring grid cell contiguous to the one or more initial grid cells to the image signature for one or more grid cells currently included in the digital representation of the physical plane; and add each grid cell that meets a predetermined threshold for the first comparison to the digital representation of the physical plane. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium comprises instructions executable by a processor, the instructions comprising instructions to:
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determine an orientation and an initial portion of a physical plane in the physical scene in three dimensional space; receive a plurality of two dimensional images of the physical plane; generate a three dimensional rectified image, wherein the rectified image contains a fronto-parallel view of at least part of the physical plane and wherein the rectified image is generated by matching reference points in the plurality of two dimensional images of the physical plane captured from different locations with different distances to the reference points in the physical scene; subdivide the rectified image into a plurality of grid cells; for each of the plurality of grid cells, generate an image signature based on at least one image characteristic associated with said grid cell, wherein the at least one image characteristic comprises three dimensional information derived from the reference points; select one or more initial grid cells contiguous to at least part of the initial portion of the physical plane to include as part of the digital representation of the physical plane; compare, as a first comparison, the image signature for each neighboring grid cell contiguous to the one or more initial grid cells to the image signature for one or more grid cells currently included in the digital representation of the physical plane; and add each grid cell that meets a predetermined threshold for the first comparison to the digital representation of the physical plane. - View Dependent Claims (20, 21, 22)
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23. The apparatus for constructing a digital representation of a physical plane from a physical scene, the apparatus comprising:
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means for determining an orientation and an initial portion of a physical plane of the physical scene in three dimensional space; means for generating a three dimensional rectified image, wherein the rectified image contains a fronto-parallel view of at least part of the physical plane and wherein the rectified image is generated by matching reference points in a plurality of two dimensional images of the physical plane captured from different locations with different distances to the reference points in the physical scene; means for subdividing the rectified image into a plurality of grid cells; for each of the plurality of grid cells, means for generating an image signature based on at least one image characteristic associated with said grid cell, wherein the at least one image characteristic comprises three dimensional information derived from the reference points; means for selecting one or more initial grid cells contiguous to at least part of the initial portion of the physical plane to include as part of the digital representation of the physical plane; means for comparing, as a first comparison, the image signature for each neighboring grid cell contiguous to the one or more initial grid cells to the image signature for one or more grid cells currently included in the digital representation of the physical plane; and means for adding each grid cell that meets a predetermined threshold for the first comparison to the digital representation of the physical plane. - View Dependent Claims (24, 25, 26)
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Specification