公开(公告)号：US20170278294A1

公开(公告)日：2017-09-28

申请号：US15621345

申请日：2017-06-13

Applicant: Google Inc.

Inventor： Scott E. Dillard ,  Brett A. Allen ,  Aleksey Golovinskiy

IPC: G06T15/04 ,  G06T15/20 ,  G06T17/05

CPC classification number: G06T15/04 ,  G06T15/20 ,  G06T15/205 ,  G06T17/05 ,  G06T17/20 ,  G06T19/003

Abstract: Systems and methods for rendering a view-dependent texture in conjunction with a three-dimensional model of a geographic area are provided. A view-dependent texture can be rendered in conjunction with at least portions of the three-dimensional model. A base texture can be rendered for portions of the three-dimensional model in the same field of view that are viewed from a slightly different perspective than a reference direction associated with the view-dependent texture. For instance, a stretching factor can be determined for each portion of the three-dimensional model based on the reference direction and a viewpoint direction associated with the portion of the three-dimensional model. A base texture, a view-dependent texture, or a blended texture can be selected for rendering at the portion of the three-dimensional model based on the stretching factor.

公开(公告)号：US20170228926A1

公开(公告)日：2017-08-10

申请号：US14933909

申请日：2015-11-05

Applicant: Google Inc.

Inventor： Aleksey Golovinskiy ,  Brett Allen ,  Alvin Jon-Hang Law

IPC: G06T17/05 ,  G06T19/20 ,  G06T15/20

CPC classification number: G06T17/05 ,  G06T15/04 ,  G06T15/20

Abstract: Systems and methods for determining two-dimensional (2D) images are presented. For instance, data indicative of a three-dimensional (3D) model of a geographic area can be obtained. A 2D output image can be generated depicting at least a portion of the geographic area based at least in part on the 3D model. Each pixel in the output image can then be reprojected to the 3D model. A plurality of aerial images depicting the geographic area can be obtained. A source image can then be determined for each pixel in the output image from the plurality of aerial images. The source image can be determined based at least in part on the reprojection of the pixel in the output image to the three-dimensional model.

公开(公告)号：US09373190B2

公开(公告)日：2016-06-21

申请号：US14327094

申请日：2014-07-09

Applicant: Google Inc.

Inventor： Xiaolin Wei ,  Aleksey Golovinskiy

IPC: G06T17/05

CPC classification number: G06T17/05 ,  G06T7/33 ,  G06T7/593 ,  G06T2207/10028 ,  G06T2207/30184 ,  G06T2219/2004

Abstract: A novel stereo reconstruction pipeline that features depth map alignment and outlier identification is provided. One example method includes obtaining a plurality of images depicting a scene. The method includes determining a pose for each of the plurality of images. The method includes determining a depth map for each of the plurality of images such that a plurality of depth maps are determined. Each of the plurality of depth maps describes a plurality of points in three-dimensional space that correspond to objects in the scene. The method includes aligning the plurality of depth maps by transforming one or more of the plurality of depth maps so as to improve an alignment between the plurality of depth maps. The method includes identifying one or more outlying points. The method includes generating a three-dimensional model of the scene based at least in part on the plurality of depth maps.

Abstract translation: 提供了一种具有深度图对齐和异常值识别的新颖的立体声重建流水线。 一个示例性方法包括获得描绘场景的多个图像。 该方法包括确定多个图像中的每个图像的姿态。 该方法包括确定多个图像中的每一个的深度图，以便确定多个深度图。 多个深度图中的每一个描述与三维空间中对应于场景中的对象的多个点。 该方法包括通过变换多个深度图中的一个或多个来对准多个深度图，以便改善多个深度图之间的对准。 该方法包括识别一个或多个外围点。 该方法包括至少部分地基于多个深度图来生成场景的三维模型。

公开(公告)号：US09165397B2

公开(公告)日：2015-10-20

申请号：US13921631

申请日：2013-06-19

Applicant: Google Inc.

Inventor： Scott E. Dillard ,  Brett A. Allen ,  Aleksey Golovinskiy

IPC: G06T17/05 ,  G06T15/04 ,  G06T15/20

CPC classification number: G06T15/04 ,  G06T15/20 ,  G06T15/205 ,  G06T17/05 ,  G06T17/20 ,  G06T19/003

Abstract: Systems and methods for rendering a view-dependent texture in conjunction with a three-dimensional model of a geographic area are provided. A view-dependent texture can be rendered in conjunction with at least portions of the three-dimensional model. A base texture can be rendered for portions of the three-dimensional model in the same field of view that are viewed from a slightly different perspective than a reference direction associated with the view-dependent texture. For instance, a stretching factor can be determined for each portion of the three-dimensional model based on the reference direction and a viewpoint direction associated with the portion of the three-dimensional model. A base texture, a view-dependent texture, or a blended texture can be selected for rendering at the portion of the three-dimensional model based on the stretching factor.

Abstract translation: 提供了与地理区域的三维模型一起渲染依赖于视图的纹理的系统和方法。 视图相关纹理可以与三维模型的至少一部分一起呈现。 可以在与从与视图相关的纹理相关联的参考方向稍微不同的视角观看的相同视场中呈现三维模型的部分的基础纹理。 例如，可以基于参考方向和与三维模型的部分相关联的视点方向来确定三维模型的每个部分的拉伸因子。 可以选择基本纹理，视图相关纹理或混合纹理，以便在三维模型的基于拉伸因子的部分进行渲染。

公开(公告)号：US09704282B1

公开(公告)日：2017-07-11

申请号：US14875886

申请日：2015-10-06

Applicant: Google Inc.

Inventor： Scott E. Dillard ,  Brett A. Allen ,  Aleksey Golovinskiy

IPC: G06T17/05 ,  G06T15/04 ,  G06T15/20 ,  G06T17/20 ,  G06T19/00

CPC classification number: G06T15/04 ,  G06T15/20 ,  G06T15/205 ,  G06T17/05 ,  G06T17/20 ,  G06T19/003

Abstract: Systems and methods for rendering a view-dependent texture in conjunction with a three-dimensional model of a geographic area are provided. A view-dependent texture can be rendered in conjunction with at least portions of the three-dimensional model. A base texture can be rendered for portions of the three-dimensional model in the same field of view that are viewed from a slightly different perspective than a reference direction associated with the view-dependent texture. For instance, a stretching factor can be determined for each portion of the three-dimensional model based on the reference direction and a viewpoint direction associated with the portion of the three-dimensional model. A base texture, a view-dependent texture, or a blended texture can be selected for rendering at the portion of the three-dimensional model based on the stretching factor.

公开(公告)号：US20140375633A1

公开(公告)日：2014-12-25

申请号：US13921631

申请日：2013-06-19

Applicant: Google Inc.

Inventor： Scott E. Dillard ,  Brett A. Allen ,  Aleksey Golovinskiy

IPC: G06T15/04

CPC classification number: G06T15/04 ,  G06T15/20 ,  G06T15/205 ,  G06T17/05 ,  G06T17/20 ,  G06T19/003

Abstract: Systems and methods for rendering a view-dependent texture in conjunction with a three-dimensional model of a geographic area are provided. A view-dependent texture can be rendered in conjunction with at least portions of the three-dimensional model. A base texture can be rendered for portions of the three-dimensional model in the same field of view that are viewed from a slightly different perspective than a reference direction associated with the view-dependent texture. For instance, a stretching factor can be determined for each portion of the three-dimensional model based on the reference direction and a viewpoint direction associated with the portion of the three-dimensional model. A base texture, a view-dependent texture, or a blended texture can be selected for rendering at the portion of the three-dimensional model based on the stretching factor.

Abstract translation: 提供了与地理区域的三维模型一起渲染依赖于视图的纹理的系统和方法。 视图相关纹理可以与三维模型的至少一部分一起呈现。 可以在与从与视图相关的纹理相关联的参考方向稍微不同的视角观看的相同视场中呈现三维模型的部分的基础纹理。 例如，可以基于参考方向和与三维模型的部分相关联的视点方向来确定三维模型的每个部分的拉伸因子。 可以选择基本纹理，视图相关纹理或混合纹理，以便在三维模型的基于拉伸因子的部分进行渲染。

公开(公告)号：US10275939B2

公开(公告)日：2019-04-30

申请号：US14933909

申请日：2015-11-05

Applicant: Google Inc.

Inventor： Aleksey Golovinskiy ,  Brett Allen ,  Alvin Jon-Hang Law

IPC: G06T17/05 ,  G06T15/20 ,  G06T15/04

Abstract: Systems and methods for determining two-dimensional (2D) images are presented. For instance, data indicative of a three-dimensional (3D) model of a geographic area can be obtained. A 2D output image can be generated depicting at least a portion of the geographic area based at least in part on the 3D model. Each pixel in the output image can then be reprojected to the 3D model. A plurality of aerial images depicting the geographic area can be obtained. A source image can then be determined for each pixel in the output image from the plurality of aerial images. The source image can be determined based at least in part on the reprojection of the pixel in the output image to the three-dimensional model.

公开(公告)号：US20160012633A1

公开(公告)日：2016-01-14

申请号：US14327094

申请日：2014-07-09

Applicant: Google Inc.

Inventor： Xiaolin Wei ,  Aleksey Golovinskiy

IPC: G06T17/05

CPC classification number: G06T17/05 ,  G06T7/33 ,  G06T7/593 ,  G06T2207/10028 ,  G06T2207/30184 ,  G06T2219/2004

Abstract: A novel stereo reconstruction pipeline that features depth map alignment and outlier identification is provided. One example method includes obtaining a plurality of images depicting a scene. The method includes determining a pose for each of the plurality of images. The method includes determining a depth map for each of the plurality of images such that a plurality of depth maps are determined Each of the plurality of depth maps describes a plurality of points in three-dimensional space that correspond to objects in the scene. The method includes aligning the plurality of depth maps by transforming one or more of the plurality of depth maps so as to improve an alignment between the plurality of depth maps. The method includes identifying one or more outlying points. The method includes generating a three-dimensional model of the scene based at least in part on the plurality of depth maps.

Abstract translation: 提供了一种具有深度图对齐和异常值识别的新颖的立体声重建流水线。 一个示例性方法包括获得描绘场景的多个图像。 该方法包括确定多个图像中的每个图像的姿态。 所述方法包括确定所述多个图像中的每一个的深度图，使得确定多个深度图。所述多个深度图中的每个深度图描述与所述场景中的对象相对应的三维空间中的多个点。 该方法包括通过变换多个深度图中的一个或多个来对准多个深度图，以便改善多个深度图之间的对准。 该方法包括识别一个或多个外围点。 该方法包括至少部分地基于多个深度图来生成场景的三维模型。