Using Videogrammetry to Fabricate Parts
First Claim
Patent Images
1. A non-transitory computer-readable medium embodying a program executable in a computing device, the program comprising:
- code that obtains a stream of image frames depicting a structure in a scene, the stream of image frames comprising a plurality of first image frames corresponding to a first imaging device and a plurality of second image frames corresponding to a second imaging device;
code that identifies a plurality of edge pixels in a plurality of the image frames;
code that identifies a plurality of groups of the edge pixels;
code that identifies a plurality of preliminary lines based at least in part on the groups of the edge pixels;
code that shortens the preliminary lines to thereby create a plurality of line segments;
code that extends the line segments to thereby create a plurality of extended line segments;
code that combines a plurality of the line segments to thereby create a plurality of lines;
code that identifies a plurality of potential planes in a plurality of the image frames;
code that matches a plurality of the lines for the first image frames with a plurality of the lines for the second image frames based at least in part on the potential planes to thereby identify a plurality of matched lines;
code that identifies a camera set motion for the image frames; and
code that generates a wireframe for at least a portion of the structure based at least in part on the matched lines and the camera set motion.
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Abstract
According to various embodiments, a stream of image frames depicting a structure in a scene are obtained. The stream of image frames may comprise first image frames from a first imaging device and second image frames from a second imaging device. Using the first image frames and the second image frames, a wireframe of at least a portion of the structure is generated. From the wireframe, as-built dimensions may be identified, materials estimates may be determined, and/or data for a fabrication device may be generated, for example.
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Citations
23 Claims
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1. A non-transitory computer-readable medium embodying a program executable in a computing device, the program comprising:
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code that obtains a stream of image frames depicting a structure in a scene, the stream of image frames comprising a plurality of first image frames corresponding to a first imaging device and a plurality of second image frames corresponding to a second imaging device; code that identifies a plurality of edge pixels in a plurality of the image frames; code that identifies a plurality of groups of the edge pixels; code that identifies a plurality of preliminary lines based at least in part on the groups of the edge pixels; code that shortens the preliminary lines to thereby create a plurality of line segments; code that extends the line segments to thereby create a plurality of extended line segments; code that combines a plurality of the line segments to thereby create a plurality of lines; code that identifies a plurality of potential planes in a plurality of the image frames; code that matches a plurality of the lines for the first image frames with a plurality of the lines for the second image frames based at least in part on the potential planes to thereby identify a plurality of matched lines; code that identifies a camera set motion for the image frames; and code that generates a wireframe for at least a portion of the structure based at least in part on the matched lines and the camera set motion. - View Dependent Claims (2, 3, 4)
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5. A system, comprising:
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at least one computing device; and a structure dimensioning system executable in the at least one computing device, the structure dimensioning system comprising; logic that obtains a stream of a plurality of image frames depicting a structure in a scene, the stream of image frames comprising a plurality of first image frames corresponding to a first imaging device and a plurality of second image frames corresponding to a second imaging device; logic that generates a wireframe of at least a portion of the structure based at least in part on the first image frames and the second image frames. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12)
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13. A method, comprising the steps of:
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obtaining, in at least one computing device, a stream of image frames depicting a structure in a scene, the stream of image frames comprising a plurality of first image frames corresponding to a first imaging device and a plurality of second image frames corresponding to a second imaging device; and generating, in the at least one computing device, a wireframe of at least a portion of the structure based at least in part on the first image frames and the second image frames. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A method, comprising the steps of:
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obtaining, in a client computing device, a stream of a plurality of image frames depicting a structure in a scene, the stream of image frames comprising a plurality of first image frames corresponding to a first imaging device and a plurality of second image frames corresponding to a second imaging device; transmitting, via the client computing device, the image frames to at least one server computing device; and obtaining, in the client computing device, from the at least one server computing device at least one of; a wireframe for at least a portion of the structure; a plurality of as-built dimensions for at least the portion of the structure; data for a fabrication device;
ora materials estimate for at least a portion of the structure.
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Specification