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Model and sizing information from smartphone acquired image sequences

  • US 9,619,933 B2
  • Filed: 06/16/2015
  • Issued: 04/11/2017
  • Est. Priority Date: 06/16/2014
  • Status: Active Grant
First Claim
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1. A system for providing a user with a 3D model including a non-transitory computer readable medium having instruction that, when executed, cause one or more processers to perform the following steps:

  • a. receive a plurality of images from an image capture device which was at least 15 cm from a surface, but not more than 1 m from the surface;

    b. determine a pose of the image capture device for each image in the plurality of images, camera intrinsics for the capture device including a focal point and an image center, and one or more radial distortion factors;

    c. rectify each image in the plurality of images using the one or more radial distortion factors;

    d. create a buffer of 60 sequential images from the plurality of images;

    e. select a reference image from the buffer;

    f. select a subset of 20 comparison images from the buffer such that each comparison image is at least 0.5 cm to 2.0 cm from any other comparison image and the reference image;

    g. generate a cost volume from the subset of comparison images and the reference image;

    h. estimate a depth image from the cost volume;

    i. fuse the depth image into a signed distance function (SDF);

    j. shift the buffer by removing the first 20 frames and adding 20 more sequential images from the plurality of images to the end of the buffer;

    k. repeat steps e through j until there are no more images in the plurality of images;

    l. create a 3D model from the signed distance function; and

    m. send the 3D model to an end user, wherein the 3D model generated is of an object placed on the surface.

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