System and method for virtually-augmented visual simultaneous localization and mapping
US10659768B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Feb 28, 2017 |
| Grant date | May 19, 2020 |
| Priority date | — |
| Expiry date | Oct 23, 2037 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04N13/204
- WIPO fieldAudio-visual technology
- WIPO sectorElectrical engineering
Abstract
A system for reconstructing a three-dimensional (3D) model of a scene including a point cloud having points identified by 3D coordinates includes at least one sensor to acquire a set of images of the scene from different poses defining viewpoints of the images and a memory to store the set of images and the 3D model of the scene. The system also includes a processor operatively connected to the memory and coupled with stored instructions to transform the images from the set of images to produce a set of virtual images of the scene viewed from virtual viewpoints; compare at least some features from the images and the virtual images to determine the viewpoint of each image in the set of images; and update 3D coordinates of at least one point in the model of the scene to match coordinates of intersections of ray back-projections from pixels of at least two images corresponding to the point according to the viewpoints of the two images.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.