公开(公告)号：US20170161945A1

公开(公告)日：2017-06-08

申请号：US15368351

申请日：2016-12-02

Applicant: Autodesk, Inc.

Inventor： Luc Franck Robert ,  Nicolas Gros ,  Yann Noutary ,  Lucas Malleus ,  Frederic Precioso ,  Diane Lingrand

IPC: G06T17/00 ,  G06T17/10

CPC classification number: G06T17/005 ,  G01S7/00 ,  G06K9/00 ,  G06K9/00214 ,  G06K9/4671 ,  G06K9/6211 ,  G06T7/33 ,  G06T17/10 ,  G06T2200/04 ,  G06T2207/10024 ,  G06T2207/10028

Abstract: A method, system, and apparatus provide the ability to globally register point cloud scans. A first and a second three-dimensional (3D) point cloud are acquired. The point clouds have a subset of points in common and there is no prior knowledge on an alignment between the point clouds. Particular points that are likely to be identified in the other point cloud are detected. Information about a normal of each of the detected particular points is retrieved. A descriptor (that only describes 3D information) is built on each of the detected particular points. Matching pairs of descriptors are determined. Rigid transformation hypotheses are estimated (based on the matching pairs) and represent a transformation. The hypotheses are accumulated into a fitted space, selected based on density, and validated based on a scoring. One of the hypotheses is then selected as a registration.

公开(公告)号：US10217277B2

公开(公告)日：2019-02-26

申请号：US15368351

申请日：2016-12-02

Applicant: Autodesk, Inc.

Inventor： Luc Franck Robert ,  Nicolas Gros ,  Yann Noutary ,  Lucas Malleus ,  Frederic Precioso ,  Diane Lingrand

IPC: G06T17/00 ,  G06T17/10 ,  G01S7/00 ,  G06K9/00 ,  G06T7/00

Abstract: A method, system, and apparatus provide the ability to globally register point cloud scans. A first and a second three-dimensional (3D) point cloud are acquired. The point clouds have a subset of points in common and there is no prior knowledge on an alignment between the point clouds. Particular points that are likely to be identified in the other point cloud are detected. Information about a normal of each of the detected particular points is retrieved. A descriptor (that only describes 3D information) is built on each of the detected particular points. Matching pairs of descriptors are determined. Rigid transformation hypotheses are estimated (based on the matching pairs) and represent a transformation. The hypotheses are accumulated into a fitted space, selected based on density, and validated based on a scoring. One of the hypotheses is then selected as a registration.

公开(公告)号：US09996969B2

公开(公告)日：2018-06-12

申请号：US15277694

申请日：2016-09-27

Applicant: Autodesk, Inc.

Inventor： Nicolas Gros ,  Luc Franck Robert

IPC: G06T15/50 ,  H04N1/60 ,  H04N7/18 ,  H04N9/07

CPC classification number: G06T15/503 ,  G06T2200/04 ,  G06T2200/08 ,  H04N1/6008 ,  H04N7/183 ,  H04N9/07

Abstract: A method, system, and computer program product provide the ability to dynamically generate a three-dimensional (3D) scene. A red green blue (RGB) image (in RGB color space) of the 3D scene is acquired. The RGB image is converted from RGB color space to a luminance (Y) and chrominance (UV) image in YUV color space (hat includes Y information and UV information). Reflectance information of the 3D scene is acquired from a laser scanner. Based on a blending function, the luminance information is blended with the reflectance information resulting in a blended YUV image. The blended YUV image is converted from YUV color space into RGB color space resulting in a blended RGB image that is output.

公开(公告)号：US20180089889A1

公开(公告)日：2018-03-29

申请号：US15277694

申请日：2016-09-27

Applicant: Autodesk, Inc.

Inventor： Nicolas Gros ,  Luc Franck Robert

IPC: G06T15/50 ,  H04N1/60 ,  H04N7/18

CPC classification number: G06T15/503 ,  G06T2200/04 ,  G06T2200/08 ,  H04N1/6008 ,  H04N7/183 ,  H04N9/07

Abstract: A method, system, and computer program product provide the ability to dynamically generate a three-dimensional (3D) scene. A red green blue (RGB) image (in RGB color space) of the 3D scene is acquired. The RGB image is converted from RGB color space to a luminance (Y) and chrominance (UV) image in YUV color space (hat includes Y information and UV information). Reflectance information of the 3D scene is acquired from a laser scanner. Based on a blending function, the luminance information is blended with the reflectance information resulting in a blended YUV image. The blended YUV image is converted from YUV color space into RGB color space resulting in a blended RGB image that is output.