Handheld portable optical scanner and method of using
US10674135B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 16, 2014 |
| Grant date | Jun 2, 2020 |
| Priority date | — |
| Expiry date | Dec 2, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldAudio-visual technology
- WIPO sectorElectrical engineering
Abstract
A system and method for real-time or near-real time processing and post-processing of RGB-D image data using a handheld portable device including extracting gray values from the RGB-D image data, creating image pyramids from the grey values and the depth data, computing a scene fitness value using the image pyramids, predicting a camera pose and aligning the image with a first subset of selected key frames, computing a new camera pose estimate and creating a keyframe using the new camera pose estimate, after the keyframe is created, selecting a second subset of keyframes different from the first subset of keyframes and repeating the step of aligning with each keyframe of the second subset of keyframes, deciding whether new links are required to the keyframe in a keyframe pose graph and linking the keyframes.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.