Mobile system for indoor 3-D mapping and creating virtual environments

  • US 6,009,359 A
  • Filed: 09/18/1996
  • Issued: 12/28/1999
  • Est. Priority Date: 09/18/1996
  • Status: Expired due to Term
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First Claim
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1. A method of locating at least a surface and modeling the surface comprising the steps of:

  • a) repeating the following steps;

    i) using at least two image capture means having a known spatial relationship therebetween, capturing with each image capture means an image, each of the at least two of image capture means having an image overlapping an image of at least another image capture means from the at least two image capture means;

    ii) moving the at least two image capture means to a new location such that each image captured from the new location overlaps at least a previously captured image until a plurality images have been captured of substantially the entire surface;

    b) within each image from the plurality of images using a processor to identify distinguishable features;

    c) using a processor, aligning identified features in overlapped images using the known spatial relationship between the at least two image capture means as constraints to determine correlations of spatial relations for overlapped images; and

    d) using a processor, locating the at least a surface and modeling the at least a surface by mapping the images onto a grid in three-dimensional space and determining the surface that substantially best approximates the correlations and is within the constraints.

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