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    COMBINING TWO-DIMENSIONAL IMAGES WITH DEPTH DATA TO DETECT JUNCTIONS OR EDGES
    4.
    发明申请
    COMBINING TWO-DIMENSIONAL IMAGES WITH DEPTH DATA TO DETECT JUNCTIONS OR EDGES 审中-公开
    组合具有深度数据的二维图像以检测结点或边缘

    公开(公告)号：US20150312550A1

    公开(公告)日：2015-10-29

    申请号：US14263624

    申请日：2014-04-28

    Applicant: Autodesk, Inc.

    Inventor： Luc Franck Robert

    IPC: H04N13/02 ,  G06K9/52 ,  G06K9/46 ,  G06T7/00 ,  G06T7/40

    CPC classification number: H04N13/204 ,  G06K9/00201 ,  G06K9/4638 ,  G06T7/13 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20221 ,  H04N13/207 ,  H04N13/271

    Abstract: A method, system, apparatus, article of manufacture, and computer program product provide the ability to detect junctions. 3D pixel image data is obtained/acquired based on 2D image data and depth data. Within a given window over the 3D pixel image data, for each of the pixels within the window, an equation for a plane passing through the pixel is determined/computed. For all of the determined planes within the given window, an intersection of all of the planes is computed. A spectrum of the intersection/matrix is analyzed. Based on the spectrum, a determination is made if the pixel at the intersection is of 3 or more surfaces, 2 surfaces, or is 1 surface.

    Abstract translation: 方法，系统，装置，制品和计算机程序产品提供检测结的能力。 基于2D图像数据和深度数据获取/获取3D像素图像数据。 在3D像素图像数据的给定窗口内，对于窗口内的每个像素，确定/计算通过像素的平面的等式。 对于给定窗口内的所有确定的平面，计算所有平面的交点。 分析交叉点/矩阵的频谱。 基于频谱，确定交点处的像素是3个或多个表面，2个表面或者是1个表面。

    MESH RECONSTRUCTION FROM HETEROGENEOUS SOURCES OF DATA
    5.
    发明申请
    MESH RECONSTRUCTION FROM HETEROGENEOUS SOURCES OF DATA 有权
    数据来源异质源的MESH重建

    公开(公告)号：US20150146971A1

    公开(公告)日：2015-05-28

    申请号：US14555409

    申请日：2014-11-26

    Applicant: AUTODESK, INC.

    Inventor： Luc Franck Robert ,  Emmanuel Gallo

    IPC: G06T7/00 ,  G06T17/20

    CPC classification number: G06T17/20 ,  G06T7/557 ,  G06T7/593 ,  G06T2200/08 ,  G06T2207/10008 ,  G06T2207/10012

    Abstract: A system, apparatus, method, computer program product, and computer readable storage medium provide the ability to reconstruct a surface mesh. Photo image data is obtained from a set of overlapping photographic images. Scan data is obtained from a scanner. A point cloud is generated from a combination of the photo image data and the scan data. An initial rough mesh is estimated from the point cloud data. The initial rough mesh is iteratively refined into a refined mesh.

    Abstract translation: 系统，装置，方法，计算机程序产品和计算机可读存储介质提供重建表面网格的能力。 从一组重叠的摄影图像中获得照片图像数据。 从扫描仪获取扫描数据。 从照片图像数据和扫描数据的组合产生点云。 从点云数据估计初始粗糙网格。 将初始粗糙网格迭代地精炼成精细网格。

    Keypoint-based point-pair-feature for scalable automatic global registration of large RGB-D scans
    6.
    发明授权
    Keypoint-based point-pair-feature for scalable automatic global registration of large RGB-D scans 有权

    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.

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