发明授权
- 专利标题： Creating a mesh from a sparse structure-from-motion point cloud using co-visibility of points
- 专利标题（中）： 使用点的共同可见性从稀疏的运动点云创建网格
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申请号： US13478652申请日： 2012-05-23
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公开(公告)号： US09053555B1公开(公告)日： 2015-06-09
- 发明人: Abhijit Ogale
- 申请人： Abhijit Ogale
- 申请人地址： US CA Mountain View
- 专利权人： Google Inc.
- 当前专利权人： Google Inc.
- 当前专利权人地址： US CA Mountain View
- 代理机构： Lerner, David, Littenberg, Krumholz & Mentlik, LLP
- 主分类号： G06T17/20
- IPC分类号： G06T17/20 ; G06T7/20 ; G06T17/00 ; G06T17/10 ; G06T17/05 ; G06T19/20 ; G06T7/00
摘要：
A method for creating a three-dimensional mesh model of a structure includes accessing a set of three-dimensional points associated with a set of images of the structure. For each three-dimensional point in the set of three-dimensional points, the method determines a reference image, identifies a subset of images from the set of images of the structure taken within a distance from the reference image, determines a subset of three-dimensional points seen by the subset of images, filters the subset of three-dimensional points to retain only a set of co-visible points that lie in a visibility cone of the reference image, and selects a normal using the set of co-visible points. The three-dimensional mesh model of the structure is computed using the selected normal, and the model may be provided to a second computing device.