公开(公告)号：US09165410B1

公开(公告)日：2015-10-20

申请号：US14488459

申请日：2014-09-17

申请人： Matterport, Inc.

发明人： Matthew Bell ,  Dave Gausebeck

IPC分类号： G06K9/00 ,  G06T19/20

CPC分类号： G06T7/30 ,  G01S17/023 ,  G01S17/89 ,  G06K9/00624 ,  G06T5/50 ,  G06T7/0024 ,  G06T7/32 ,  G06T15/10 ,  G06T19/20 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20221 ,  G06T2219/2004 ,  G06T2219/2012 ,  H04N13/204 ,  H04N13/257 ,  H04N13/271

摘要： The capture and alignment of multiple 3D scenes is disclosed. Three dimensional capture device data from different locations is received thereby allowing for different perspectives of 3D scenes. An algorithm uses the data to determine potential alignments between different 3D scenes via coordinate transformations. Potential alignments are evaluated for quality and subsequently aligned subject to the existence of sufficiently high relative or absolute quality. A global alignment of all or most of the input 3D scenes into a single coordinate frame may be achieved. The presentation of areas around a particular hole or holes takes place thereby allowing the user to capture the requisite 3D scene containing areas within the hole or holes as well as part of the surrounding area using, for example, the 3D capture device. The new 3D captured scene is aligned with existing 3D scenes and/or 3D composite scenes.

摘要翻译： 披露了多个3D场景的捕获和对齐。 接收来自不同位置的三维捕获设备数据，从而允许3D场景的不同视角。 算法使用数据通过坐标变换来确定不同3D场景之间的潜在对准。 对质量进行潜在比对评估，并随后对齐，使其存在足够高的相对或绝对质量。 将所有或大部分输入3D场景全局对齐到单个坐标系中。 发生围绕特定孔或孔的区域的呈现，从而允许用户使用例如3D捕获装置捕获包含孔或孔内的区域以及周围区域的一部分的必需3D场景。 新的3D捕获场景与现有的3D场景和/或3D复合场景对齐。

公开(公告)号：US20150269785A1

公开(公告)日：2015-09-24

申请号：US14219906

申请日：2014-03-19

申请人： Matterport, Inc.

发明人： Matthew Tschudy Bell ,  David Alan Gausebeck ,  Gregory William Coombe ,  Daniel Ford ,  William John Brown

IPC分类号： G06T19/20 ,  G06T19/00 ,  G06T17/05

CPC分类号： G06T19/003 ,  G06T13/80 ,  G06T15/20

摘要： Systems and methods for generating three-dimensional models with correlated three-dimensional and two dimensional imagery data are provided. In particular, imagery data can be captured in two dimensions and three dimensions. Imagery data can be transformed into models. Two-dimensional data and three-dimensional data can be correlated within models. Two-dimensional data can be selected for display within a three-dimensional model. Modifications can be made to the three-dimensional model and can be displayed within a three-dimensional model or within two-dimensional data. Models can transition between two dimensional imagery data and three dimensional imagery data.

摘要翻译： 提供了用于生成具有相关三维和二维图像数据的三维模型的系统和方法。 特别地，图像数据可以在二维和三维中被捕获。 图像数据可以转换为模型。 二维数据和三维数据可以在模型内相关。 可以选择二维数据以在三维模型中显示。 可以对三维模型进行修改，并且可以在三维模型内或二维数据内显示。 模型可以在二维图像数据和三维图像数据之间转换。

公开(公告)号：US20150262421A1

公开(公告)日：2015-09-17

申请号：US14213531

申请日：2014-03-14

申请人： Matterport, Inc.

发明人： Matthew Tschudy Bell ,  David Alan Gausebeck ,  Gregory William Coombe ,  Daniel Ford

IPC分类号： G06T17/20 ,  G06T15/00

CPC分类号： G06T17/20 ,  G06T3/40 ,  G06T2210/04 ,  G06T2210/08 ,  G06T2210/36 ,  H04N21/2362

摘要： Systems and techniques for processing and/or transmitting three-dimensional (3D) data are presented. A partitioning component receives captured 3D data associated with a 3D model of an interior environment and partitions the captured 3D data into at least one data chunk associated with at least a first level of detail and a second level of detail. A data component stores 3D data including at least the first level of detail and the second level of detail for the at least one data chunk. An output component transmits a portion of data from the at least one data chunk that is associated with the first level of detail or the second level of detail to a remote client device based on information associated with the first level of detail and the second level of detail.

摘要翻译： 提出了用于处理和/或传输三维（3D）数据的系统和技术。 分区组件接收与内部环境的3D模型相关联的捕获的3D数据，并且将所捕获的3D数据分割成与至少第一细节级别和第二级细节相关联的至少一个数据块。 数据组件存储至少包括至少一个数据块的细节的第一级别和第二级别的细节的3D数据。 输出组件基于与第一细节级别相关联的信息将来自与第一细节级别或第二级细节相关联的至少一个数据块的一部分数据发送到远程客户端设备 详情。

公开(公告)号：US20140125767A1

公开(公告)日：2014-05-08

申请号：US14070426

申请日：2013-11-01

申请人： Matterport, Inc.

发明人： Matthew Bell ,  David Gausebeck ,  Michael Beebe

IPC分类号： H04N13/02

CPC分类号： G06T19/20 ,  H04N13/10 ,  H04N13/106 ,  H04N13/156 ,  H04N13/204 ,  H04N13/246 ,  H04N2213/001

摘要： Systems and methods for building a three-dimensional composite scene are disclosed. Certain embodiments of the systems and methods may include the use of a three-dimensional capture device that captures a plurality of three-dimensional images of an environment. Some embodiments may further include elements concerning aligning and/or mapping the captured images. Various embodiments may further include elements concerning reconstructing the environment from which the images were captured. The methods disclosed herein may be performed by a program embodied on a non-transitory computer-readable storage medium when executed the program is executed a processor.

公开(公告)号：US12086376B2

公开(公告)日：2024-09-10

申请号：US17820237

申请日：2022-08-16

申请人： Matterport, Inc.

发明人： James Mildrew ,  Matthew Tschudy Bell ,  Dustin Michael Cook ,  Preston Cowley ,  Lester Lee ,  Peter McColgan ,  Daniel Prochazka ,  Brian Schulman ,  James Sundra ,  Alan Tan

IPC分类号： G06T19/00 ,  G06F3/01 ,  G06F3/04815 ,  G06F3/04817 ,  G06F3/0482 ,  G06T15/20 ,  G06T17/05

CPC分类号： G06F3/04815 ,  G06F3/011 ,  G06F3/013 ,  G06F3/04817 ,  G06F3/0482 ,  G06T15/20 ,  G06T17/05 ,  G06T19/003

摘要： This application generally relates to defining, displaying and interacting with tags in a 3D model. In an embodiment, a method includes generating, by a system including a processor, a three-dimensional model of an environment based on sets of aligned three-dimensional data captured from the environment, and associating tags with defined locations of the three-dimensional model, wherein the tags are respectively represented by tag icons that are spatially aligned with the defined locations of the three-dimensional model as included in different representations of the three-dimensional model rendered via an interface of a device, wherein the different representations correspond to different perspectives of the three-dimensional model, and wherein selection of the tag icons causes the tags respectively associated therewith to be rendered at the device.

公开(公告)号：US12056837B2

公开(公告)日：2024-08-06

申请号：US17654989

申请日：2022-03-15

申请人： Matterport, Inc.

发明人： David Alan Gausebeck

IPC分类号： G06T19/20 ,  G06T7/521 ,  G06T7/579 ,  G06T7/593 ,  G06T17/00 ,  G06T19/00 ,  H04N13/10 ,  H04N13/106 ,  H04N13/156 ,  H04N13/204 ,  H04N13/246 ,  H04N13/271 ,  H04N13/00

CPC分类号： G06T19/20 ,  G06T7/521 ,  G06T7/579 ,  G06T7/593 ,  G06T17/00 ,  G06T19/006 ,  H04N13/10 ,  H04N13/106 ,  H04N13/156 ,  H04N13/204 ,  H04N13/246 ,  H04N13/271 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10052 ,  G06T2210/04 ,  H04N2013/0081 ,  H04N2213/001

摘要： The disclosed subject matter is directed to employing machine learning models configured to predict 3D data from 2D images using deep learning techniques to derive 3D data for the 2D images. In some embodiments, a method is provided that comprises receiving, by a system comprising a processor, a panoramic image, and employing, by the system, a three-dimensional data from two-dimensional data (3D-from-2D) convolutional neural network model to derive three-dimensional data from the panoramic image, wherein the 3D-from-2D convolutional neural network model employs convolutional layers that wrap around the panoramic image as projected on a two-dimensional plane to facilitate deriving the three-dimensional data.

公开(公告)号：US11852732B2

公开(公告)日：2023-12-26

申请号：US18295258

申请日：2023-04-03

申请人： Matterport, Inc.

发明人： David Alan Gausebeck ,  Kirk Stromberg ,  Louis D. Marzano ,  David Proctor ,  Naoto Sakakibara ,  Simeon Trieu ,  Kevin Kane ,  Simon Wynn

IPC分类号： G01S17/931 ,  G01S17/89 ,  G01S7/481 ,  G03B37/00 ,  H04N23/698

CPC分类号： G01S17/931 ,  G01S7/4813 ,  G01S7/4815 ,  G01S17/89 ,  G03B37/00 ,  H04N23/698

摘要： An apparatus comprising a housing, a mount configured to be coupled to a motor to horizontally move the apparatus, a wide-angle lens coupled to the housing, the wide-angle lens being positioned above the mount thereby being along an axis of rotation, the axis of rotation being the axis along which the apparatus rotates, an image capture device within the housing, the image capture device configured to receive two-dimensional images through the wide-angle lens of environment, and a LiDAR device within the housing, the LiDAR device configured to generate depth data based on the environment.

公开(公告)号：US11775788B2

公开(公告)日：2023-10-03

申请号：US17246422

申请日：2021-04-30

申请人： Matterport, Inc.

发明人： Gary Bradski ,  Gholamreza Amayeh ,  Mona Fathollahi ,  Ethan Rublee ,  Grace Vesom ,  William Nguyen

IPC分类号： G06V10/00 ,  G06K7/14 ,  G06F18/21 ,  G06V10/46 ,  G06V10/24

CPC分类号： G06K7/1443 ,  G06F18/2163 ,  G06K7/1417 ,  G06V10/462 ,  G06V10/245

摘要： Systems and methods for registering arbitrary visual features for use as fiducial elements are disclosed. An example method includes aligning a geometric reference object and a visual feature and capturing an image of the reference object and feature. The method also includes identifying, in the image of the object and the visual feature, a set of at least four non-colinear feature points in the visual feature. The method also includes deriving, from the image, a coordinate system using the geometric object. The method also comprises providing a set of measures to each of the points in the set of at least four non-colinear feature points using the coordinate system. The measures can then be saved in a memory to represent the registered visual feature and serve as the basis for using the registered visual feature as a fiducial element.

公开(公告)号：US20230306688A1

公开(公告)日：2023-09-28

申请号：US18171053

申请日：2023-02-17

申请人： Matterport, Inc.

发明人： Matthew Tschudy Bell ,  David Alan Gausebeck ,  Gregory William Coombe ,  Daniel Ford ,  William John Brown

IPC分类号： G06T19/00 ,  G06T13/80 ,  G06T15/20

CPC分类号： G06T19/003 ,  G06T13/80 ,  G06T15/20

摘要： Systems and methods for generating three-dimensional models with correlated three-dimensional and two dimensional imagery data are provided. In particular, imagery data can be captured in two dimensions and three dimensions. Imagery data can be transformed into models. Two-dimensional data and three-dimensional data can be correlated within models. Two-dimensional data can be selected for display within a three-dimensional model. Modifications can be made to the three-dimensional model and can be displayed within a three-dimensional model or within two-dimensional data. Models can transition between two dimensional imagery data and three dimensional imagery data.

公开(公告)号：US20230243978A1

公开(公告)日：2023-08-03

申请号：US18295258

申请日：2023-04-03

申请人： Matterport, Inc.

发明人： David Alan Gausebeck ,  Kirk Stromberg ,  Louis D. Marzano ,  David Proctor ,  Naoto Sakakibara ,  Simeon Trieu ,  Kevin Kane ,  Simon Wynn

IPC分类号： G01S17/931 ,  G01S17/89 ,  G01S7/481 ,  G03B37/00 ,  H04N23/698

CPC分类号： G01S17/931 ,  G01S17/89 ,  G01S7/4813 ,  G03B37/00 ,  G01S7/4815 ,  H04N23/698

摘要： An apparatus comprising a housing, a mount configured to be coupled to a motor to horizontally move the apparatus, a wide-angle lens coupled to the housing, the wide-angle lens being positioned above the mount thereby being along an axis of rotation, the axis of rotation being the axis along which the apparatus rotates, an image capture device within the housing, the image capture device configured to receive two-dimensional images through the wide-angle lens of environment, and a LiDAR device within the housing, the LiDAR device configured to generate depth data based on the environment.