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    • 67. 发明公开
    • METHOD AND SYSTEM FOR DETERMINING SPATIAL COORDINATES OF A 3D RECONSTRUCTION OF AT LEAST PART OF A REAL OBJECT AT ABSOLUTE SPATIAL SCALE
    • 在绝对空间尺度上确定真实对象的至少一部分的3D重建的空间坐标的方法和系统
    • EP3221845A1
    • 2017-09-27
    • EP14802062.1
    • 2014-11-21
    • Metaio GmbH
    • KNORR, SebastianKURZ, Daniel
    • G06T7/20G06T7/00
    • G06T7/277G06T7/251G06T7/579G06T2207/10016G06T2207/10028G06T2207/10048G06T2207/20076G06T2207/20092G06T2207/30201G06T2207/30244
    • 3D reconstruction of at least part of a first real object at absolute spatial scale comprises: receiving a first and third image including at least part of the first real object captured with a first and third camera, a second and fourth image including at least a first and second part of a second real object, captured with a second and fourth camera, wherein the frustum of the first and second as well as the third and fourth camera do not overlap, and providing a first and second spatial transformation between the first and second and the third and fourth camera, providing a first and second scale information indicative of an absolute spatial scale of the at least first and second part of the second real object, determining at least part of a pose of the second (P2F) and fourth (P4F) camera in a second common coordinate system according to the second and fourth image and the first and second scale information, determining at least part of a pose of the first (P1F) and third (P3F) camera according to the at least part of the pose of the second (P2F) and fourth (P4F) camera and the first and second spatial transformation, and determining said 3D reconstruction according to the first and third images and the at least part of the poses of the first (P1F) and third (P3F) cameras.
    • 以绝对空间尺度对第一真实对象的至少一部分进行3D重建包括:接收第一和第三图像,所述第一和第三图像包括用第一和第三相机捕获的第一真实对象的至少一部分;第二和第四图像,包括至少第一 以及用第二和第四相机捕获的第二真实对象的第二部分,其中第一和第二以及第三和第四相机的平截头体不重叠,并且在第一和第二相机之间提供第一和第二空间变换 以及所述第三相机和所述第四相机提供指示所述第二真实对象的所述至少第一部分和所述第二部分的绝对空间尺度的第一比例尺信息和第二比例尺信息,确定所述第二(P2F)和所述第四相机的姿态的至少一部分, P4F)相机在第二公共坐标系中根据第二和第四图像以及第一和第二比例尺信息确定第一(P1F)和第三(P3F)姿态的至少一部分来 ra根据第二(P2F)和第四(P4F)相机的姿态的至少一部分以及第一和第二空间变换确定所述三维重建,并且根据第一和第三图像以及至少一部分姿态确定所述三维重建 第一台(P1F)和第三台(P3F)相机。