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Methods and processes for interactive display of three dimensional covariance

  • US 9,646,424 B2
  • Filed: 05/22/2014
  • Issued: 05/09/2017
  • Est. Priority Date: 05/29/2013
  • Status: Active Grant
First Claim
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1. A method for displaying a three-dimensional surface, the method comprising:

  • using an electro-optical sensor to generate a plurality of images of a physical surface;

    generating the three-dimensional surface from the plurality of images, using a multiray intersection of image coordinates on the physical surface and a photogrammetric bundle adjustment algorithm;

    associating a covariance matrix with a first point on the three-dimensional surface;

    forming an ellipsoid, the ellipsoid comprising three major axes, each major axis having a length proportional to the square root of an eigenvalue of the covariance matrix, and being parallel to an eigenvector of the covariance matrix;

    displaying a two-dimensional plane projection of the three-dimensional surface, a brightness of each point of the two-dimensional plane projection of the three-dimensional surface corresponding to an average intensity of corresponding points in the images; and

    displaying a two-dimensional plane projection of the ellipsoid at the first point,wherein the covariance matrix is a sample covariance of points on the three-dimensional surface in a region around the first point, the sample covariance C being given by

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