Scan colorization with an uncalibrated camera
US10237532B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 7, 2017 |
| Grant date | Mar 19, 2019 |
| Priority date | — |
| Expiry date | Mar 7, 2037 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04N2013/0081
- WIPO fieldAudio-visual technology
- WIPO sectorElectrical engineering
Abstract
A method of colorizing a 3D point cloud includes receiving the 3D point cloud, receiving a 2D color image acquired by a camera, creating a 2D intensity image of the 3D point cloud based on intrinsic and extrinsic parameters of the camera, generating a set of refined camera parameters by matching the 2D intensity image and the 2D color image, creating a depth buffer for the 3D point cloud using the set of refined camera parameters, determining a foreground depth for each respective pixel of the depth buffer, and coloring the point cloud by, for each respective point of the 3D point cloud: upon determining that the respective point is in the foreground, assigning a color of a corresponding pixel in the 2D color image to the respective point; and upon determining that the respective point is not in the foreground, not assigning any color to the respective point.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.