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公开(公告)号：US09189573B2
公开(公告)日：2015-11-17
申请号：US13657307
申请日：2012-10-22
Applicant: Google Inc.
Inventor： Joshua Sam Schpok , Jamie Adams
CPC classification number: G06F17/5009 , G06F17/5004 , G06T17/05
Abstract: Systems, methods and computer storage apparatuses for synthesizing terrain elevations under overpasses are described herein. An embodiment includes identifying one or more spans across an overpass in an overpasses model, where the overpasses model includes information for one or more overpasses and respective locations and widths of the spans. The embodiment associates one or more terrain elevation values with the one or more identified spans, where the terrain elevation values can be included in an elevation model corresponding to the overpasses model. The embodiment further includes interpolating terrain elevation values for one or more points across the identified spans and updating the elevation model with the interpolated terrain elevation values.
Abstract translation: 这里描述了用于在立交桥下合成地形高度的系统，方法和计算机存储装置。 一个实施例包括识别在立交桥模型中跨越立交桥的一个或多个跨度，其中立交桥模型包括用于一个或多个立交桥以及跨度的相应位置和宽度的信息。 实施例将一个或多个地形高程值与一个或多个识别的跨度相关联，其中地形高程值可被包括在对应于立交桥模型的高程模型中。 该实施例还包括跨越所识别的跨度内插一个或多个点的地形高程值，并用内插的地形高程值更新高程模型。
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公开(公告)号：US09224368B2
公开(公告)日：2015-12-29
申请号：US13771695
申请日：2013-02-20
Applicant: Google Inc.
Inventor： Joshua Sam Schpok
Abstract: Systems and methods for merging three-dimensional models, such as a three-dimensional range sensor-based model and a three-dimensional camera-based model, are provided. According to aspects of the present disclosure, an enhanced volumetric merging technique can be used to merge the three-dimensional models. A plurality of voxels can be constructed for a three-dimensional space. A first distance field can be propagated based on the range sensor-based model in an extended margin between the range sensor-based model and a range sensor viewpoint. A second distance field can be propagated based on the camera-based model for voxels in the extended margin. A cumulative distance field can be determined based at least in part on the first field and the second distance field. The merged three-dimensional model can be constructed from the cumulative distance field using, for instance, a suitable meshing algorithm.
Abstract translation: 提供了用于合并三维模型的系统和方法，例如基于三维距离传感器的模型和基于三维相机的模型。 根据本公开的方面，可以使用增强的体积合并技术来合并三维模型。 可以为三维空间构造多个体素。 基于范围传感器的模型可以在基于距离传感器的模型和范围传感器视点之间的延伸余量中传播第一距离场。 可以基于基于相机的延伸余量中的体素模型来传播第二距离场。 可以至少部分地基于第一场和第二距离场来确定累积距离场。 可以使用例如合适的网格划分算法从累积距离场来构建合并的三维模型。
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公开(公告)号：US09465976B1
公开(公告)日：2016-10-11
申请号：US14852831
申请日：2015-09-14
Applicant: Google Inc.
Inventor： Joshua Sam Schpok , Michael Hongmai Lin , Tilman Reinhardt
CPC classification number: G06K9/00201 , G06K9/6202 , G06T5/10 , G06T7/73 , G06T2207/10012 , G06T2207/20021 , G06T2207/30244
Abstract: Methods, systems, and computer program products are provided for determining camera parameters and three dimensional locations of features from a plurality of images of a geographic area. These include, detecting features in the plurality of images where each of the images cover at least a portion of the geographic area, comparing the detected features between respective ones of the images to determine a plurality of matched features, selecting a subset of the plurality of matched features, and determining the camera parameters and the three dimensional positions of one or more of the detected features using the selected subset. The respective matched features are selected depending on a quantity of other matched features in proximity to the respective matched features.
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Patent Agency Ranking
4.发明申请Method and System for Generating and Storing Data Objects for Multi-Resolution Geometry in a Three Dimensional Model 有权用于在三维模型中生成和存储多分辨率几何数据对象的方法和系统公开(公告)号：US20150178986A1
公开(公告)日：2015-06-25
申请号：US13771612
申请日：2013-02-20
Applicant: Google Inc.
Inventor： Joshua Sam Schpok
IPC: G06T17/10
CPC classification number: G06T17/05 , G06T2210/36
Abstract: Methods and systems for generating data objects for multi-resolution geometry in a three-dimensional model are provided. A region of high resolution geometry in the three-dimensional model having a level of detail that is higher than a level of detail associated with geometry data surrounding the region of high resolution geometry can be identified. A boundary of the region of high resolution geometry can be extended and high resolution geometry can be generated within the extended boundary. The high resolution geometry can be spatially partitioned into a plurality of geospatial data objects according to a hierarchical spatial partitioning scheme. The geospatial data objects can be selectively stored in a memory. For instance, geospatial data objects associated with the extended boundary can be identified and excluded from a hierarchical tree data structure storing geometry data associated with the three-dimensional model.
Abstract translation: 提供了用于在三维模型中生成多分辨率几何的数据对象的方法和系统。 可以识别三维模型中具有高于与围绕高分辨率几何区域的几何数据相关联的细节水平的细节水平的高分辨率几何区域。 可以扩展高分辨率几何区域的边界，并且可以在扩展边界内生成高分辨率几何。 根据分层空间划分方案，高分辨率几何可以在空间上划分成多个地理空间数据对象。 地理空间数据对象可以选择性地存储在存储器中。 例如，可以从存储与三维模型相关联的几何数据的分层树数据结构中识别和排除与扩展边界相关联的地理空间数据对象。
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5.发明授权公开(公告)号：US09165179B1
公开(公告)日：2015-10-20
申请号：US14586164
申请日：2014-12-30
Applicant: Google Inc.
Inventor： Joshua Sam Schpok , Michael Hongmai Lin , Tilman Reinhardt
CPC classification number: G06K9/00201 , G06K9/6202 , G06T5/10 , G06T7/73 , G06T2207/10012 , G06T2207/20021 , G06T2207/30244
Abstract: Methods, systems, and computer program products are provided for determining camera parameters and three dimensional locations of features from a plurality of images of a geographic area. These include, detecting features in the plurality of images where each of the images cover at least a portion of the geographic area, comparing the detected features between respective ones of the images to determine a plurality of matched features, selecting a subset of the plurality of matched features and determining the camera parameters and the three dimensional positions of one or more of the detected features using the selected subset. The respective matched features are selected depending on a quantity of other matched features in proximity to the respective matched features.
Abstract translation: 提供了用于从地理区域的多个图像确定特征的相机参数和三维位置的方法，系统和计算机程序产品。 这些包括：检测多个图像中的特征，其中每个图像覆盖地理区域的至少一部分，比较相应图像之间的检测到的特征以确定多个匹配特征，选择多个 使用所选择的子集来确定相机参数和一个或多个检测到的特征的三维位置。 相应的匹配特征根据相应匹配特征附近的其他匹配特征的数量来选择。
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公开(公告)号：US20150169793A1
公开(公告)日：2015-06-18
申请号：US13657307
申请日：2012-10-22
Applicant: Google Inc.
Inventor： Joshua Sam Schpok , Jamie Adams
IPC: G06F17/50
CPC classification number: G06F17/5009 , G06F17/5004 , G06T17/05
Abstract: Systems, methods and computer storage apparatuses for synthesizing terrain elevations under overpasses are described herein. An embodiment includes identifying one or more spans across an overpass in an overpasses model, where the overpasses model includes information for one or more overpasses and respective locations and widths of the spans. The embodiment associates one or more terrain elevation values with the one or more identified spans, where the terrain elevation values can be included in an elevation model corresponding to the overpasses model. The embodiment further includes interpolating terrain elevation values for one or more points across the identified spans and updating the elevation model with the interpolated terrain elevation values.
Abstract translation: 这里描述了用于在立交桥下合成地形高度的系统，方法和计算机存储装置。 一个实施例包括识别在立交桥模型中跨越立交桥的一个或多个跨度，其中立交桥模型包括用于一个或多个立交桥以及跨度的相应位置和宽度的信息。 实施例将一个或多个地形高程值与一个或多个识别的跨度相关联，其中地形高程值可被包括在对应于立交桥模型的高程模型中。 该实施例还包括跨越所识别的跨度内插一个或多个点的地形高程值，并用内插的地形高程值更新高程模型。
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公开(公告)号：US20150149127A1
公开(公告)日：2015-05-28
申请号：US13657284
申请日：2012-10-22
Applicant: Google Inc.
Inventor： Joshua Sam Schpok , Tilman Reinhardt
CPC classification number: G06F17/509 , G06F17/5004
Abstract: Embodiments disclosed herein relate to synthesis of road elevation values. An embodiment includes traversing one or more road paths from a point in a road network model to identify intersections of the traversed road paths with terrain elevation values in an elevation model corresponding to the road network model, and interpolating an elevation value for the point using elevation values associated with the identified intersections, where the traversing and the interpolating are performed for each point on the road network model. In an embodiment, the interpolating can be performed when the point's elevation value is unavailable in the elevation model due to one or more non-terrain features overlapping the point and preventing measurement of the point's elevation value.
Abstract translation: 本文公开的实施例涉及道路高程值的合成。 一个实施例包括从道路网络模型中的一点遍历一条或多条道路路径，以识别所述经过的道路路径与对应于道路网络模型的高程模型中的地形高程值的交叉点，并使用高程来内插所述点的高程值 与所识别的交叉点相关联的值，其中对道路网络模型上的每个点执行遍历和内插。 在一个实施例中，当由于一个或多个非地形特征与点重叠并且防止点的高程值的测量而在该高程模型中该点的高程值不可用时，可执行内插。
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公开(公告)号：US20140232717A1
公开(公告)日：2014-08-21
申请号：US13771695
申请日：2013-02-20
Applicant: Google Inc.
Inventor： Joshua Sam Schpok
Abstract: Systems and methods for merging three-dimensional models, such as a three-dimensional range sensor-based model and a three-dimensional camera-based model, are provided. According to aspects of the present disclosure, an enhanced volumetric merging technique can be used to merge the three-dimensional models. A plurality of voxels can be constructed for a three-dimensional space. A first distance field can be propagated based on the range sensor-based model in an extended margin between the range sensor-based model and a range sensor viewpoint. A second distance field can be propagated based on the camera-based model for voxels in the extended margin. A cumulative distance field can be determined based at least in part on the first field and the second distance field. The merged three-dimensional model can be constructed from the cumulative distance field using, for instance, a suitable meshing algorithm.
Abstract translation: 提供了用于合并三维模型的系统和方法，例如基于三维距离传感器的模型和基于三维相机的模型。 根据本公开的方面，可以使用增强的体积合并技术来合并三维模型。 可以为三维空间构造多个体素。 基于范围传感器的模型可以在基于距离传感器的模型和范围传感器视点之间的延伸余量中传播第一距离场。 可以基于基于相机的延伸余量中的体素模型来传播第二距离场。 可以至少部分地基于第一场和第二距离场来确定累积距离场。 可以使用例如合适的网格划分算法从累积距离场来构建合并的三维模型。
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