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1. 发明授权

US08031933B2 Method and apparatus for producing an enhanced 3D model of an environment or an object 有权
标题翻译：用于生成环境或物体的增强3D模型的方法和装置
公开(公告)号：US08031933B2
公开(公告)日：2011-10-04
申请号：US12654452
申请日：2009-12-18
申请人： Shuen Yan Stephen Se , Piotr Jasiobedzki , David Owen Parry , Roy Henry Jakola
发明人： Shuen Yan Stephen Se , Piotr Jasiobedzki , David Owen Parry , Roy Henry Jakola
IPC分类号： G06K9/00
CPC分类号： G01C11/06 , A61B5/113 , G06T7/285 , G06T7/33 , G06T7/579 , G06T7/593 , G06T17/00 , G06T2200/08 , G06T2207/10021
摘要： The present invention provides a system (method and apparatus) for creating photorealistic 3D models of environments and/or objects from a plurality of stereo images obtained from a mobile stereo camera and optional monocular cameras. The cameras may be handheld, mounted on a mobile platform, manipulator or a positioning device. The system automatically detects and tracks features in image sequences and self-references the stereo camera in 6 degrees of freedom by matching the features to a database to track the camera motion, while building the database simultaneously. A motion estimate may be also provided from external sensors and fused with the motion computed from the images. Individual stereo pairs are processed to compute dense 3D data representing the scene and are transformed, using the estimated camera motion, into a common reference and fused together. The resulting 3D data is represented as point clouds, surfaces, or volumes. The present invention also provides a system (method and apparatus) for enhancing 3D models of environments or objects by registering information from additional sensors to improve model fidelity or to augment it with supplementary information by using a light pattern projector. The present invention also provides a system (method and apparatus) for generating photo-realistic 3D models of underground environments such as tunnels, mines, voids and caves, including automatic registration of the 3D models with pre-existing underground maps.
摘要翻译：本发明提供了一种用于从从移动立体相机和可选的单目相机获得的多个立体图像中创建环境和/或物体的逼真3D模型的系统（方法和装置）。相机可以是手持式的，安装在移动平台，操纵器或定位装置上。系统自动检测和跟踪图像序列中的特征，并通过将特征与数据库进行匹配来自动参考立体相机，以跟踪摄像机运动，同时构建数据库。还可以从外部传感器提供运动估计，并与从图像计算的运动融合。处理各个立体声对以计算表示场景的密集3D数据，并使用估计的摄像机运动将其变换成公共参考并融合在一起。所得到的3D数据表示为点云，曲面或卷。本发明还提供一种用于通过从附加传感器登记信息来提高模型保真度或通过使用光图案投影仪用补充信息来增加环境或对象的3D模型来增强3D模型的系统（方法和装置）。本发明还提供了一种用于产生诸如隧道，矿井，空洞和洞穴的地下环境的逼真3D模型的系统（方法和装置），包括具有预先存在的地下地图的3D模型的自动注册。

2. 发明授权

US08031909B2 Method and apparatus for producing 3D model of an underground environment 有权
标题翻译：用于生产地下环境3D模型的方法和装置
公开(公告)号：US08031909B2
公开(公告)日：2011-10-04
申请号：US12654451
申请日：2009-12-18
申请人： Shuen Yan Stephen Se , Piotr Jasiobedzki , David Owen Parry , Roy Henry Jakola
发明人： Shuen Yan Stephen Se , Piotr Jasiobedzki , David Owen Parry , Roy Henry Jakola
IPC分类号： G06K9/00
CPC分类号： G01C11/06 , A61B5/113 , G06T7/285 , G06T7/33 , G06T7/579 , G06T7/593 , G06T17/00 , G06T2200/08 , G06T2207/10021
摘要： The present invention provides a system (method and apparatus) for creating photorealistic 3D models of environments and/or objects from a plurality of stereo images obtained from a mobile stereo camera and optional monocular cameras. The cameras may be handheld, mounted on a mobile platform, manipulator or a positioning device. The system automatically detects and tracks features in image sequences and self-references the stereo camera in 6 degrees of freedom by matching the features to a database to track the camera motion, while building the database simultaneously. A motion estimate may be also provided from external sensors and fused with the motion computed from the images. Individual stereo pairs are processed to compute dense 3D data representing the scene and are transformed, using the estimated camera motion, into a common reference and fused together. The resulting 3D data is represented as point clouds, surfaces, or volumes. The present invention also provides a system (method and apparatus) for enhancing 3D models of environments or objects by registering information from additional sensors to improve model fidelity or to augment it with supplementary information by using a light pattern projector. The present invention also provides a system (method and apparatus) for generating photo-realistic 3D models of underground environments such as tunnels, mines, voids and caves, including automatic registration of the 3D models with pre-existing underground maps.
摘要翻译：本发明提供了一种用于从从移动立体相机和可选的单目相机获得的多个立体图像中创建环境和/或物体的逼真3D模型的系统（方法和装置）。相机可以是手持式的，安装在移动平台，操纵器或定位装置上。系统自动检测和跟踪图像序列中的特征，并通过将特征与数据库进行匹配来自动参考立体相机，以跟踪摄像机运动，同时构建数据库。还可以从外部传感器提供运动估计，并与从图像计算的运动融合。处理各个立体声对以计算表示场景的密集3D数据，并使用估计的摄像机运动将其变换成公共参考并融合在一起。所得到的3D数据表示为点云，曲面或卷。本发明还提供一种用于通过从附加传感器登记信息来提高模型保真度或通过使用光图案投影仪用补充信息来增加环境或对象的3D模型来增强3D模型的系统（方法和装置）。本发明还提供了一种用于产生诸如隧道，矿井，空洞和洞穴的地下环境的逼真3D模型的系统（方法和装置），包括具有预先存在的地下地图的3D模型的自动注册。

3. 发明申请

US20100098327A1 3D Imaging system 有权
标题翻译： 3D成像系统
公开(公告)号：US20100098327A1
公开(公告)日：2010-04-22
申请号：US12654451
申请日：2009-12-18
申请人： Shuen Yan Stephen Se , Piotr Jasiobedzki , David Owen Parry , Roy Henry Jakola
发明人： Shuen Yan Stephen Se , Piotr Jasiobedzki , David Owen Parry , Roy Henry Jakola
IPC分类号： G06K9/00
CPC分类号： G01C11/06 , A61B5/113 , G06T7/285 , G06T7/33 , G06T7/579 , G06T7/593 , G06T17/00 , G06T2200/08 , G06T2207/10021
摘要： The present invention provides a system (method and apparatus) for creating photorealistic 3D models of environments and/or objects from a plurality of stereo images obtained from a mobile stereo camera and optional monocular cameras. The cameras may be handheld, mounted on a mobile platform, manipulator or a positioning device. The system automatically detects and tracks features in image sequences and self-references the stereo camera in 6 degrees of freedom by matching the features to a database to track the camera motion, while building the database simultaneously. A motion estimate may be also provided from external sensors and fused with the motion computed from the images. Individual stereo pairs are processed to compute dense 3D data representing the scene and are transformed, using the estimated camera motion, into a common reference and fused together. The resulting 3D data is represented as point clouds, surfaces, or volumes. The present invention also provides a system (method and apparatus) for enhancing 3D models of environments or objects by registering information from additional sensors to improve model fidelity or to augment it with supplementary information by using a light pattern projector. The present invention also provides a system (method and apparatus) for generating photo-realistic 3D models of underground environments such as tunnels, mines, voids and caves, including automatic registration of the 3D models with pre-existing underground maps.
摘要翻译：本发明提供了一种用于从从移动立体相机和可选的单目相机获得的多个立体图像中创建环境和/或物体的逼真3D模型的系统（方法和装置）。相机可以是手持式的，安装在移动平台，操纵器或定位装置上。系统自动检测和跟踪图像序列中的特征，并通过将特征与数据库进行匹配来自动参考立体相机，以跟踪摄像机运动，同时构建数据库。还可以从外部传感器提供运动估计，并与从图像计算的运动融合。处理各个立体声对以计算表示场景的密集3D数据，并使用估计的摄像机运动将其变换成公共参考并融合在一起。所得到的3D数据表示为点云，曲面或卷。本发明还提供一种用于通过从附加传感器登记信息来提高模型保真度或通过使用光图案投影仪用补充信息来增加环境或对象的3D模型来增强3D模型的系统（方法和装置）。本发明还提供了一种用于产生诸如隧道，矿井，空洞和洞穴的地下环境的逼真3D模型的系统（方法和装置），包括具有预先存在的地下地图的3D模型的自动注册。

4. 发明授权

US07860301B2 3D imaging system 有权
标题翻译： 3D成像系统
公开(公告)号：US07860301B2
公开(公告)日：2010-12-28
申请号：US11352399
申请日：2006-02-13
申请人： Shuen Yan Stephen Se , Piotr Jasiobedzki , David Owen Parry , Roy Henry Jakola
发明人： Shuen Yan Stephen Se , Piotr Jasiobedzki , David Owen Parry , Roy Henry Jakola
IPC分类号： G06K9/00
CPC分类号： G01C11/06 , A61B5/113 , G06T7/285 , G06T7/33 , G06T7/579 , G06T7/593 , G06T17/00 , G06T2200/08 , G06T2207/10021
摘要： A system for creating photorealistic 3D models of environments and/or objects from a plurality of stereo images obtained from a mobile stereo camera and optional monocular cameras, for enhancing 3D models of environments or objects by registering information from additional sensors to improve model fidelity or to augment it with supplementary information using a light pattern projector, and for generating photo-realistic 3D models of underground environments such as tunnels, mines, voids and caves, including automatic registration of the 3D models with pre-existing underground maps. The cameras may be handheld, mounted on a mobile platform, manipulator or a positioning device. The system automatically detects and tracks features in image sequences and self-references the stereo camera in 6 degrees of freedom by matching the features to a database to track the camera motion, while building the database simultaneously. A motion estimate may be provided from external sensors and fused with the motion computed from the images.
摘要翻译：一种用于从从移动立体相机和可选的单目相机获得的多个立体图像中创建环境和/或物体的逼真3D模型的系统，用于通过从附加传感器注册信息来增强模型保真度或者增加模型保真度来增强环境或对象的3D模型使用光模式投影仪增加补充信息，并生成地下环境（如隧道，矿山，空洞和洞穴）的逼真3D模型，包括使用预先存在的地下地图自动注册3D模型。相机可以是手持式的，安装在移动平台，操纵器或定位装置上。系统自动检测和跟踪图像序列中的特征，并通过将特征与数据库进行匹配来自动参考立体相机，以跟踪摄像机运动，同时构建数据库。可以从外部传感器提供运动估计，并与从图像计算的运动融合。

5. 发明申请

US20100098328A1 3D imaging system 有权
标题翻译： 3D成像系统
公开(公告)号：US20100098328A1
公开(公告)日：2010-04-22
申请号：US12654452
申请日：2009-12-18
申请人： Shuen Yan Stephen Se , Piotr Jasiobedzki , David Owen Parry , Roy Henry Jakola
发明人： Shuen Yan Stephen Se , Piotr Jasiobedzki , David Owen Parry , Roy Henry Jakola
IPC分类号： G06K9/40 , G06K9/00
CPC分类号： G01C11/06 , A61B5/113 , G06T7/285 , G06T7/33 , G06T7/579 , G06T7/593 , G06T17/00 , G06T2200/08 , G06T2207/10021
摘要： The present invention provides a system (method and apparatus) for creating photorealistic 3D models of environments and/or objects from a plurality of stereo images obtained from a mobile stereo camera and optional monocular cameras. The cameras may be handheld, mounted on a mobile platform, manipulator or a positioning device. The system automatically detects and tracks features in image sequences and self-references the stereo camera in 6 degrees of freedom by matching the features to a database to track the camera motion, while building the database simultaneously. A motion estimate may be also provided from external sensors and fused with the motion computed from the images. Individual stereo pairs are processed to compute dense 3D data representing the scene and are transformed, using the estimated camera motion, into a common reference and fused together. The resulting 3D data is represented as point clouds, surfaces, or volumes. The present invention also provides a system (method and apparatus) for enhancing 3D models of environments or objects by registering information from additional sensors to improve model fidelity or to augment it with supplementary information by using a light pattern projector. The present invention also provides a system (method and apparatus) for generating photo-realistic 3D models of underground environments such as tunnels, mines, voids and caves, including automatic registration of the 3D models with pre-existing underground maps.
摘要翻译：本发明提供了一种用于从从移动立体相机和可选的单目相机获得的多个立体图像中创建环境和/或物体的逼真3D模型的系统（方法和装置）。相机可以是手持式的，安装在移动平台，操纵器或定位装置上。系统自动检测和跟踪图像序列中的特征，并通过将特征与数据库进行匹配来自动参考立体相机，以跟踪摄像机运动，同时构建数据库。还可以从外部传感器提供运动估计，并与从图像计算的运动融合。处理各个立体声对以计算表示场景的密集3D数据，并使用估计的摄像机运动将其变换成公共参考并融合在一起。所得到的3D数据表示为点云，曲面或卷。本发明还提供一种用于通过从附加传感器登记信息来提高模型保真度或通过使用光图案投影仪用补充信息来增加环境或对象的3D模型来增强3D模型的系统（方法和装置）。本发明还提供了一种用于产生诸如隧道，矿井，空洞和洞穴的地下环境的逼真3D模型的系统（方法和装置），包括具有预先存在的地下地图的3D模型的自动注册。

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