公开(公告)号：US10574974B2

公开(公告)日：2020-02-25

申请号：US14318355

申请日：2014-06-27

Applicant: A9.com, Inc.

Inventor： Himanshu Arora ,  Arnab Sanat Kumar Dhua ,  Sunil Ramesh ,  Chen Fang

IPC: H04N13/282 ,  H04N13/275 ,  G06T17/00

Abstract: Various embodiments provide for the generation of 3D models of objects. For example, depth data and color image data can be captured from viewpoints around an object using a sensor. A camera having a higher resolution can simultaneously capture image data of the object. Features between images captured by the image sensor and the camera can be extracted and compared to determine a mapping between the camera and the image. Once the mapping between the camera and the image sensor is determined, a second mapping between adjacent viewpoints can be determined for each image around the object. In this example, each viewpoint overlaps with an adjacent viewpoint and features extracted from two overlapping viewpoints are matched to determine their relative alignment. Accordingly, a 3D point cloud can be generated and the images captured by the camera can be projected on the surface of the 3D point cloud to generate the 3D model.

公开(公告)号：US20150381968A1

公开(公告)日：2015-12-31

申请号：US14318355

申请日：2014-06-27

Applicant: A9.com, Inc.

Inventor： Himanshu Arora ,  Arnab Sanat Kumar Dhua ,  Sunil Ramesh ,  Chen Fang

IPC: H04N13/02 ,  G06T17/00

CPC classification number: H04N13/282 ,  G06T7/55 ,  G06T17/00 ,  G06T2207/10028 ,  H04N13/275

Abstract: Various embodiments provide for the generation of 3D models of objects. For example, depth data and color image data can be captured from viewpoints around an object using a sensor. A camera having a higher resolution can simultaneously capture image data of the object. Features between images captured by the image sensor and the camera can be extracted and compared to determine a mapping between the camera and the image. Once the mapping between the camera and the image sensor is determined, a second mapping between adjacent viewpoints can be determined for each image around the object. In this example, each viewpoint overlaps with an adjacent viewpoint and features extracted from two overlapping viewpoints are matched to determine their relative alignment. Accordingly, a 3D point cloud can be generated and the images captured by the camera can be projected on the surface of the 3D point cloud to generate the 3D model.

Abstract translation: 各种实施例提供了对象的3D模型的生成。 例如，可以使用传感器从对象周围的视点捕获深度数据和彩色图像数据。 具有更高分辨率的相机可以同时捕获对象的图像数据。 可以提取并比较由图像传感器和相机拍摄的图像之间的特征，以确定相机和图像之间的映射。 一旦确定了相机和图像传感器之间的映射，就可以针对对象周围的每个图像确定相邻视点之间的第二映射。 在该示例中，每个视点与相邻视点重叠，并且从两个重叠视点提取的特征被匹配以确定它们的相对对准。 因此，可以生成3D点云，并且可以将由相机拍摄的图像投影到3D点云的表面上以生成3D模型。