US6781618B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Hand-held 3D vision system
Assignee: Mitsubishi Electric Research Laboratories Inc
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Filing: 2001-08-06
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Granted: 2004-08-24
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Expires: 2021-08-06
Abstract
Abstract A 3D model of a scene is constructed by acquiring first images of a scene having unknown characteristics with a first camera. Corresponding second images of a another scene having known characteristics are acquired by a second camera. The first and second cameras have a fixed physical relationship to each other. Only the second images are analyzed to determine corresponding positions of the second camera while acquiring the first images. Then, the first images are assembled into the 3D model using the corresponding positions and the fixed physical relationship of the first and second camera.
Inventors
- 👤 Paul Beardsley
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-03 22:36
CPC Classifications
G; G06; G06T; G06T17/00; G06T7/00; G06T7/70; G06T7/73; H; H04; H04N; H04N5/00; H04N5/222; H04N5/2224; G06T2200/00; G06T2200/08; G06T2207/00; G06T2207/30; G06T2207/30204; G06T2207/30208
Claims Analysis
Total Claims: 26
Claim 1
Independent Claim
97 words
A method for constructing a 3D model of a scene, comprising: acquiring first images of a first scene having unknown characteristics by a first camera; acquiring corresponding second images of a second scene having known characteristics by a second camera, the first and second cameras having a fixed physical relationship to each other; analyzing only the second images to determine corresponding positions of the second camera while acquiring the first images; and assembling only the first images into a 3D model using the determined corresponding positions and the fixed physical relationship of the first and second camera.
Claim 2
Independent Claim
97 words
A method for constructing a 3D model of a scene, comprising: acquiring first images of a first scene having unknown characteristics by a first camera; acquiring corresponding second images of a second scene having known characteristics by a second camera, the first and second cameras having a fixed physical relationship to each other; analyzing only the second images to determine corresponding positions of the second camera while acquiring the first images; and assembling only the first images into a 3D model using the determined corresponding positions and the fixed physical relationship of the first and second camera.
Claim 3
Dependent Claim
15 words
The method of claim 1 further comprising: rendering the 3D model on a display device.
Claim 4
Dependent Claim
17 words
The method of claim 1 wherein the known characteristics of the second scene include a rigid structure.
Claim 5
Dependent Claim
13 words
The method of claim 1 wherein the known characteristics include a position-registration pattern.
Claim 6
Dependent Claim
22 words
The method of claim 1 wherein the known characteristics include a fixed set of visual beacons, each with a unique distinguishable identity.
Claim 7
Dependent Claim
16 words
The method of claim 1 wherein the known characteristics include a moving object with known motion.
Claim 8
Dependent Claim
27 words
The method of claim 1 wherein the first scene includes a 3D object, and the 3D model assembled from the first images corresponds to the 3D object.
Claim 9
Dependent Claim
20 words
The method of claim 1 wherein pixels of a particular first image and a corresponding particular second image are disjoint.
Claim 10
Dependent Claim
19 words
The method of claim 1 wherein a particular first image and a corresponding particular second image are acquired concurrently.
Claim 11
Dependent Claim
29 words
The method of claim 1 wherein the first and second cameras are hand-held while acquiring the first and second images without constraining motions of the first and second cameras.
Claim 12
Dependent Claim
35 words
The method of claim 1 wherein the first camera is oriented at right angles with respect to the second camera, and the first and second cameras each have a field of view less than 90°.
Claim 13
Dependent Claim
37 words
The method of claim 11 wherein the first camera is rotated in a plane while the second camera is rotated about an axis substantially perpendicular to the plane to acquire a panoramic view of the first scene.
Claim 14
Dependent Claim
50 words
The method of claim 1 wherein the first camera is oriented at an oblique angle with respect to the second camera, and the second camera is rotated in a circle while acquiring the first and second images to a view of all sides of an object in the first scene.
Claim 15
Dependent Claim
61 words
The method of claim 1 further comprising: placing a position-registration pattern in the second scene, the position-registration pattern having a central blank central area to form the first scene; placing an object in the central blank area; and moving the first camera around the object, and aiming the second camera at the position-registration pattern while acquiring the first and second images.
Claim 16
Dependent Claim
26 words
The method of claim 1 wherein the first scene is an interior of a building and the second scene includes rigid architectural details of the building.
Claim 17
Dependent Claim
13 words
The method of claim 15 wherein the rigid architectural details are ceiling tiles.
Claim 18
Dependent Claim
43 words
The method of claim 1 further comprising: acquiring corresponding third images of the second scene by a third camera, the third came as having a fixed physical relationship to the first and second cameras, and the third images overlapping with the second images.
Claim 19
Dependent Claim
18 words
The method of claim 1 wherein the first and second cameras are mounted within a single camera body.
Claim 20
Dependent Claim
16 words
The method of claim 1 wherein the second camera is removable mounted on the first camera.
Claim 21
Dependent Claim
23 words
The method of claim 1 wherein the first camera has a high-resolution color sensor and the second camera has a low-resolution monochrome sensor.
Claim 22
Dependent Claim
26 words
The method of claim 1 wherein a field of view of the second camera is substantially larger than a field of view of the first camera.
Claim 23
Dependent Claim
21 words
The method of claim 1 further comprising: calibrating the first and second cameras using a planar calibration pattern having identification information.
Claim 24
Dependent Claim
98 words
The method of claim 22 further comprising: acquiring first calibration images of the calibration pattern with the first camera: acquiring a corresponding second calibration image for each first image, the first image and the corresponding second image being non-overlapping; determining a first planar homography between each first image and the calibration pattern to generate a first synthetic calibration pattern; determining a second planar homography between each second image and the calibration pattern to generate a second synthetic calibration pattern; and deriving a relative pose of the first and second camera from the first and second synthetic calibration patterns.
Claim 25
Independent Claim
103 words
An apparatus method for constructing a 3D model of a scene, comprising: a first camera configured to acquire first images of a first scene having unknown characteristics; a second camera having a fixed physical relationship to the first camera, the second camera configured to acquire corresponding second images of a second scene having known characteristics; means for analyzing only the second images to determine corresponding positions of the second camera while acquiring the first images; and means for assembling only the first images into a 3D model using the determined corresponding positions and the fixed physical relationship of the first and second camera.
Claim 26
Independent Claim
103 words
An apparatus method for constructing a 3D model of a scene, comprising: a first camera configured to acquire first images of a first scene having unknown characteristics; a second camera having a fixed physical relationship to the first camera, the second camera configured to acquire corresponding second images of a second scene having known characteristics; means for analyzing only the second images to determine corresponding positions of the second camera while acquiring the first images; and means for assembling only the first images into a 3D model using the determined corresponding positions and the fixed physical relationship of the first and second camera.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2007-08-24 | 2008-02-23 | 2008-08-24 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2011-08-24 | 2012-02-23 | 2012-08-24 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2015-08-24 | 2016-02-23 | 2016-08-24 | $7700.00 | Window Closed / Lapsed |