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1. 发明授权

US07065242B2 System and method of three-dimensional image capture and modeling 失效
公开(公告)号：US07065242B2
公开(公告)日：2006-06-20
申请号：US09819449
申请日：2001-03-28
申请人： Michael Petrov , Alexander Migdal , Alexei Lebedev , Veronika Shelyekhova , Leonid Polonskiy , Vadim Abadjev
发明人： Michael Petrov , Alexander Migdal , Alexei Lebedev , Veronika Shelyekhova , Leonid Polonskiy , Vadim Abadjev
IPC分类号： G06K9/00
CPC分类号： G06K9/20 , G06K2209/40
摘要： System and method for constructing a 3D model of an object based on a series of silhouette and texture map images. In the exemplary embodiment an object is placed on a rotating turntable and a camera, which is stationary, captures images of the object as it rotates on the turntable. In one pass, the system captures a number of photographic images that will be processed into image silhouettes. In a second pass, the system gathers texture data. After a calibration procedure (used to determine the camera's focal length and the turntable's axis of rotation), a silhouette processing module determines a set of two-dimensional polygon shapes (silhouette contour polygons) that describe the contours of the object. The system uses the silhouette contour polygons to create a 3D polygonal mesh model of the object. The system determines the shape of the 3D model analytically-by finding the areas of intersection between the edges of the model faces and the edges of the silhouette contour polygons. The system creates an initial, (rough) model of the 3D object from one of the silhouette contour polygons, then executes an overlaying procedure to process each of the remaining silhouette contour polygons. In the overlaying process, the system processes the silhouette contour polygons collected from each silhouette image, projecting each face of the (rough) 3D model onto the image plane of the silhouette contour polygons. The overlaying of each face of the (rough) 3D model onto the 2D plane of the silhouette contour polygons enables the present invention to determine those areas that are extraneous and should be removed from the (rough) 3D model. As the system processes the silhouette contour polygons in each image it removes the extraneous spaces from the initial object model and creates new faces to patch “holes.” The polygonal mesh model, once completed, can be transformed into a triangulated mesh model. In a subsequent step, the system uses a deterministic procedure to map texture from the texture images onto the triangles of the 3D mesh model, locating that area in the various texture map images that is “best” for each mesh triangle.

2. 发明申请

US20060227133A1 System and method of three-dimensional image capture and modeling 有权
公开(公告)号：US20060227133A1
公开(公告)日：2006-10-12
申请号：US11443957
申请日：2006-05-30
申请人： Michael Petrov , Alexander Migdal , Alexei Lebedev , Veronika Shelyekhova , Leonid Polonskiy , Vadim Abadjev
发明人： Michael Petrov , Alexander Migdal , Alexei Lebedev , Veronika Shelyekhova , Leonid Polonskiy , Vadim Abadjev
IPC分类号： G06T15/00
CPC分类号： G06K9/20 , G06K2209/40
摘要： System and method for constructing a 3D model of an object based on a series of silhouette and texture map images. In the exemplary embodiment an object is placed on a rotating turntable and a camera, which is stationary, captures images of the object as it rotates on the turntable. In one pass, the system captures a number of photographic images that will be processed into image silhouettes. In a second pass, the system gathers texture data. After a calibration procedure (used to determine the camera's focal length and the turntable's axis of rotation), a silhouette processing module determines a set of two-dimensional polygon shapes (silhouette contour polygons) that describe the contours of the object. The system uses the silhouette contour polygons to create a 3D polygonal mesh model of the object. The system determines the shape of the 3D model analytically by finding the areas of intersection between the edges of the model faces and the edges of the silhouette contour polygons. The system creates an initial, (rough) model of the 3D object from one of the silhouette contour polygons, then executes an overlaying procedure to process each of the remaining silhouette contour polygons. In the overlaying process, the system processes the silhouette contour polygons collected from each silhouette image, projecting each face of the (rough) 3D model onto the image plane of the silhouette contour polygons. The overlaying of each face of the (rough) 3D model onto the 2D plane of the silhouette contour polygons enables the present invention to determine those areas that are extraneous and should be removed from the (rough) 3D model. As the system processes the silhouette contour polygons in each image it removes the extraneous spaces from the initial object model and creates new faces to patch “holes.” The polygonal mesh model, once completed, can be transformed into a triangulated mesh model. In a subsequent step, the system uses a deterministic procedure to map texture from the texture images onto the triangles of the 3D mesh model, locating that area in the various texture map images that is “best” for each mesh triangle.

3. 发明授权

US07453456B2 System and method of three-dimensional image capture and modeling 有权
标题翻译：三维图像捕获和建模的系统和方法
公开(公告)号：US07453456B2
公开(公告)日：2008-11-18
申请号：US11444239
申请日：2006-05-30
申请人： Michael Petrov , Alexander Migdal , Alexei Lebedev , Veronika Shelyekhova , Leonid Polonskiy , Vadim Abadjev
发明人： Michael Petrov , Alexander Migdal , Alexei Lebedev , Veronika Shelyekhova , Leonid Polonskiy , Vadim Abadjev
IPC分类号： G06T15/00 , G06K9/00
CPC分类号： G06K9/20 , G06K2209/40
摘要： Systems and methods for identifying the contour of an object that is depicted in an image. An object is placed on a rotating turntable and a camera, which is stationary, captures images of the object as it rotates on the turntable. In one pass, the system captures a number of photographic images that will be processed into image silhouettes. After a calibration procedure (used to determine the camera's focal length and the turntable's axis of rotation), a silhouette processing module determines a set of two-dimensional polygon shapes (silhouette contour polygons) that describe the contours of the object by comparing light intensity values in the images of the object with light intensity values from an image of the background without the object.
摘要翻译：用于识别在图像中描绘的对象的轮廓的系统和方法。物体被放置在旋转的转盘上，并且静止的照相机在转盘上旋转时捕获物体的图像。在一次通过中，系统捕获将被处理成图像轮廓的多个摄影图像。在校准程序（用于确定相机的焦距和转盘的旋转轴线）之后，轮廓处理模块通过比较光强度值来确定描述对象轮廓的一组二维多边形形状（轮廓轮廓多边形）在具有来自背景图像的光强度值的对象的图像中，没有对象。

4. 发明授权

US07728848B2 Tools for 3D mesh and texture manipulation 失效
标题翻译： 3D网格和纹理操作的工具
公开(公告)号：US07728848B2
公开(公告)日：2010-06-01
申请号：US09819772
申请日：2001-03-28
申请人： Michael Petrov , Alexander Migdal , Alexei Lebedev , Veronika Shelyekhova , Leonid Polonskiy , Vadim Abadjev
发明人： Michael Petrov , Alexander Migdal , Alexei Lebedev , Veronika Shelyekhova , Leonid Polonskiy , Vadim Abadjev
IPC分类号： G09G5/00
CPC分类号： G06T17/20 , G06T17/205
摘要： Improvement of the performance, usability, and functionality of software for editing three dimensional computer models and textures is described. Editing operations are performed on the model in an ordered list to reduce the amount of memory required to maintain previous versions, and certain editing operations are precalculated to reduce the amount of real time calculation required. Improvements to usability and functionality are provided by more precisely selecting portions of a model for editing, allowing textures to be moved more easily on the model, and allowing better blending of the appearance of adjacent textures.
摘要翻译：描述了用于编辑三维计算机模型和纹理的软件的性能，可用性和功能的改进。在有序列表中对模型执行编辑操作，以减少维护以前版本所需的内存量，并预先计算某些编辑操作以减少所需的实时计算量。通过更精确地选择用于编辑的模型的部分来提供对可用性和功能的改进，使得纹理可以更容易地在模型上移动，并且允许更好地混合相邻纹理的外观。

5. 发明授权

US07474803B2 System and method of three-dimensional image capture and modeling 有权
公开(公告)号：US07474803B2
公开(公告)日：2009-01-06
申请号：US11443957
申请日：2006-05-30
申请人： Michael Petrov , Alexander Migdal , Alexei Lebedev , Veronika Shelyekhova , Leonid Polonskiy , Vadim Abadjev
发明人： Michael Petrov , Alexander Migdal , Alexei Lebedev , Veronika Shelyekhova , Leonid Polonskiy , Vadim Abadjev
IPC分类号： G06K9/36 , G06K9/00 , G06T15/00
CPC分类号： G06K9/20 , G06K2209/40
摘要： System and method for constructing a 3D model of an object based on a series of silhouette and texture map images. In the exemplary embodiment an object is placed on a rotating turntable and a camera, which is stationary, captures images of the object as it rotates on the turntable. In one pass, the system captures a number of photographic images that will be processed into image silhouettes. In a second pass, the system gathers texture data. After a calibration procedure (used to determine the camera's focal length and the turntable's axis of rotation), a silhouette processing module determines a set of two-dimensional polygon shapes (silhouette contour polygons) that describe the contours of the object. The system uses the silhouette contour polygons to create a 3D polygonal mesh model of the object. The system determines the shape of the 3D model analytically by finding the areas of intersection between the edges of the model faces and the edges of the silhouette contour polygons. The system creates an initial, (rough) model of the 3D object from one of the silhouette contour polygons, then executes an overlaying procedure to process each of the remaining silhouette contour polygons. In the overlaying process, the system processes the silhouette contour polygons collected from each silhouette image, projecting each face of the (rough) 3D model onto the image plane of the silhouette contour polygons. The overlaying of each face of the (rough) 3D model onto the 2D plane of the silhouette contour polygons enables the present invention to determine those areas that are extraneous and should be removed from the (rough) 3D model. As the system processes the silhouette contour polygons in each image it removes the extraneous spaces from the initial object model and creates new faces to patch “holes.” The polygonal mesh model, once completed, can be transformed into a triangulated mesh model. In a subsequent step, the system uses a deterministic procedure to map texture from the texture images onto the triangles of the 3D mesh model, locating that area in the various texture map images that is “best” for each mesh triangle.

6. 发明申请

US20060232583A1 System and method of three-dimensional image capture and modeling 有权
公开(公告)号：US20060232583A1
公开(公告)日：2006-10-19
申请号：US11444239
申请日：2006-05-30
申请人： Michael Petrov , Alexander Migdal , Alexei Lebedev , Veronika Shelyekhova , Leonid Polonskiy , Vadim Abadjev
发明人： Michael Petrov , Alexander Migdal , Alexei Lebedev , Veronika Shelyekhova , Leonid Polonskiy , Vadim Abadjev
IPC分类号： G06T15/00
CPC分类号： G06K9/20 , G06K2209/40
摘要： System and method for constructing a 3D model of an object based on a series of silhouette and texture map images. In the exemplary embodiment an object is placed on a rotating turntable and a camera, which is stationary, captures images of the object as it rotates on the turntable. In one pass, the system captures a number of photographic images that will be processed into image silhouettes. In a second pass, the system gathers texture data. After a calibration procedure (used to determine the camera's focal length and the turntable's axis of rotation), a silhouette processing module determines a set of two-dimensional polygon shapes (silhouette contour polygons) that describe the contours of the object. The system uses the silhouette contour polygons to create a 3D polygonal mesh model of the object. The system determines the shape of the 3D model analytically by finding the areas of intersection between the edges of the model faces and the edges of the silhouette contour polygons. The system creates an initial, (rough) model of the 3D object from one of the silhouette contour polygons, then executes an overlaying procedure to process each of the remaining silhouette contour polygons. In the overlaying process, the system processes the silhouette contour polygons collected from each silhouette image, projecting each face of the (rough) 3D model onto the image plane of the silhouette contour polygons. The overlaying of each face of the (rough) 3D model onto the 2D plane of the silhouette contour polygons enables the present invention to determine those areas that are extraneous and should be removed from the (rough) 3D model. As the system processes the silhouette contour polygons in each image it removes the extraneous spaces from the initial object model and creates new faces to patch “holes.” The polygonal mesh model, once completed, can be transformed into a triangulated mesh model. In a subsequent step, the system uses a deterministic procedure to map texture from the texture images onto the triangles of the 3D mesh model, locating that area in the various texture map images that is “best” for each mesh triangle.

7. 发明授权

US06549288B1 Structured-light, triangulation-based three-dimensional digitizer 有权
标题翻译：结构光，基于三角测量的三维数字化仪
公开(公告)号：US06549288B1
公开(公告)日：2003-04-15
申请号：US09312447
申请日：1999-05-14
申请人： Alexander Migdal , Michael Petrov , Alexei Lebedev , Veronika Shelyekhova , Vadim Abadjev , Vladimir Bernstein , Andrei Afanassenkov
发明人： Alexander Migdal , Michael Petrov , Alexei Lebedev , Veronika Shelyekhova , Vadim Abadjev , Vladimir Bernstein , Andrei Afanassenkov
IPC分类号： G01B1130
CPC分类号： G01B11/30 , G01B11/25 , G01B11/2509 , G06T7/521
摘要： The present invention provides a system for illuminating an object with a special kind of structured light pattern, recording the shape of the reflected points of light by means of a camera, and, by a triangulation technique that does not depend on the fixed direction of the light source relative to the camera, reconstructing the 3D shape of the object through a computer using the data points collected from the reflection of the structured light pattern. The scanning system is portable and does not require data processing contemporaneous with the data collection. The portable system stores in the storage media several images of the objects with different illumination patterns. The data is subsequently processed, by a computer system which applies data processing routines, i.e., the model building algorithms which provide 3D surface generation. The data acquisition according to the present invention is simplified to acquiring of only two or, optionally, four images of the object, thereby significantly increasing the digitization speed over that of laser-based scanners. The light source projects both structured light and uniform illumination light from the same apparent source, and that allows for numerical normalization of the images.
摘要翻译：本发明提供了一种用特殊类型的结构化光图案照射物体的系统，通过照相机记录反射光点的形状，并且通过不依赖于固定方向的三角测量技术相对于照相机的光源，通过使用从结构化光图案的反射收集的数据点通过计算机重建对象的3D形状。扫描系统是便携式的，不需要与数据收集同时进行的数据处理。便携式系统在存储介质中存储具有不同照明图案的物体的几个图像。随后通过应用数据处理例程的计算机系统即提供3D表面生成的模型构建算法对数据进行处理。根据本发明的数据采集被简化为仅获取对象的两个或可选地，四个图像，从而显着增加数字化速度超过基于激光的扫描仪的数字化速度。光源投射了来自相同视源的结构光和均匀照明光，并且允许图像的数值归一化。

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