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    Using free-form deformations in surface reconstruction
    1.
    发明授权
    Using free-form deformations in surface reconstruction 有权
    在表面重建中使用自由形变形

    公开(公告)号：US09483879B2

    公开(公告)日：2016-11-01

    申请号：US14489802

    申请日：2014-09-18

    Applicant: MICROSOFT TECHNOLOGY LICENSING, LLC

    Inventor： Michael Jason Gourlay ,  Justin Avram Clark

    IPC: G06T7/00 ,  G06T19/20 ,  G06T17/00

    CPC classification number: G06T19/20 ,  G06T17/00 ,  G06T2207/10004 ,  G06T2207/20228 ,  G06T2219/2021

    Abstract: Volumes of a 3D physical space are used in a surface reconstruction process, where adjacent volumes share vertices so that no gaps or overlaps between the volumes exist. As a result, a continuous surface is obtained in the surface reconstruction process. The vertices are anchored to nodes in a pose graph, such that locations of the vertices are adjusted as the pose graph is updated. As a result, a deformation of the volumes is permitted. Based on the deformation of a volume, a region of a depth map of the physical space is deformed correspondingly. Each vertex can be anchored to a closest node of the pose graph, or to a point which is based on a combination of nodes. In one approach, the point is defined based on the closest node and other nodes within a defined radius of the closest node.

    Abstract translation: 3D物理空间的体积用于表面重建过程，其中相邻体积共享顶点，使得存在体积之间不存在间隙或重叠。 结果，在表面重建处理中获得连续的表面。 顶点被锚定到姿势图中的节点，使得当姿势图被更新时，顶点的位置被调整。 结果，允许体积的变形。 基于体积的变形，物理空间的深度图的区域相应地变形。 每个顶点可以锚定到姿势图的最接近的节点，或者基于节点的组合的点。 在一种方法中，该点是基于最近节点和最近节点的定义半径内的其他节点来定义的。

    Large-scale surface reconstruction that is robust against tracking and mapping errors
    3.
    发明授权
    Large-scale surface reconstruction that is robust against tracking and mapping errors 有权
    针对跟踪和映射错误的大规模表面重建

    公开(公告)号：US09432636B2

    公开(公告)日：2016-08-30

    申请号：US14091262

    申请日：2013-11-26

    Applicant: Microsoft Technology Licensing, LLC

    Inventor： Michael Jason Gourlay ,  Justin Avram Clark

    IPC: G06T7/00 ,  H04N7/18 ,  G06T17/00 ,  G06T7/20

    CPC classification number: H04N7/183 ,  G06T7/246 ,  G06T7/33 ,  G06T17/00 ,  G06T2200/08 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/20072 ,  G06T2207/30244

    Abstract: Depth maps of a physical space are obtained using a depth sensor carried by a rig such as a robot or a head mounted display device worn by a user. Visible light images are also obtained. The images and orientation readings are used to create a pose graph which includes nodes connected by links. The nodes are associated with different poses of the rig and the corresponding images. Links between the nodes represent correspondences between the images, and transforms between coordinate systems of the nodes. As new images are captured, the pose graph is updated to reduce an accumulation of errors. Furthermore, surfaces in the physical space can be reconstructed at any time according to the current state of the pose graph. Volumes used in a surface reconstruction process are anchored to the nodes such that the positions of the volumes are adjusted as the pose graph is updated.

    Abstract translation: 物理空间的深度图是使用由诸如机器人的钻机所携带的深度传感器或由用户佩戴的头戴式显示装置获得的。 还可以获得可见光图像。 图像和方向读数用于创建包括通过链接连接的节点的姿态图。 节点与钻机的不同姿势和相应的图像相关联。 节点之间的链接表示图像之间的对应关系，并且在节点的坐标系之间进行变换。 当捕获新图像时，更新姿势图以减少错误的累积。 此外，物理空间中的表面可以根据姿势图的当前状态随时重建。 在表面重构过程中使用的体积被锚定到节点，使得当姿势图被更新时，体积的位置被调整。

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