Image analysis – Applications – Range or distance measuring
Reexamination Certificate
2009-12-18
2011-10-04
Tucker, Wesley (Department: 2624)
Image analysis
Applications
Range or distance measuring
C382S120000, C382S121000, C382S122000, C382S294000
Reexamination Certificate
active
08031909
ABSTRACT:
The present invention provides a system (method and apparatus) for creating photorealistic 3D models of environments and/or objects from a plurality of stereo images obtained from a mobile stereo camera and optional monocular cameras. The cameras may be handheld, mounted on a mobile platform, manipulator or a positioning device. The system automatically detects and tracks features in image sequences and self-references the stereo camera in 6 degrees of freedom by matching the features to a database to track the camera motion, while building the database simultaneously. A motion estimate may be also provided from external sensors and fused with the motion computed from the images. Individual stereo pairs are processed to compute dense 3D data representing the scene and are transformed, using the estimated camera motion, into a common reference and fused together. The resulting 3D data is represented as point clouds, surfaces, or volumes. The present invention also provides a system (method and apparatus) for enhancing 3D models of environments or objects by registering information from additional sensors to improve model fidelity or to augment it with supplementary information by using a light pattern projector. The present invention also provides a system (method and apparatus) for generating photo-realistic 3D models of underground environments such as tunnels, mines, voids and caves, including automatic registration of the 3D models with pre-existing underground maps.
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Jakola Roy Henry
Jasiobedzki Piotr
Parry David Owen
Se Shuen Yan Stephen
Hill & Schumacher
MacDonald Dettwiler and Associates Inc.
Schumacher Lynn C.
Tucker Wesley
Woldemariam Aklilu
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