公开(公告)号：US20210019937A1

公开(公告)日：2021-01-21

申请号：US16516155

申请日：2019-07-18

Applicant: RAYTHEON COMPANY

Inventor： Jacob Wesely Gallaway ,  Jeremy Jens Gerhart ,  Stephen J. Raif ,  Jody Dale Verret

IPC: G06T17/05 ,  G06T15/06 ,  G06T7/60 ,  G06T7/00 ,  G06T7/32 ,  G06T15/20

Abstract: A computer vision method, executed by one or more processors, for generating a single 3D model view of a geographic scene includes: receiving image data for the scene from a plurality of sensors located at different angles with respect to the geographic scene; dividing the image data into a plurality of image spatial regions; correlating the image data in each image spatial region to obtain a score for each image data in each image spatial region; grouping the image data in each image spatial region into two or more image clusters, based on the scores for each image; performing a multi-ray intersection within each image cluster to obtain a 3D reference point for each region; for each region, combining the one or more clusters, based on the 3D reference point for the region; and registering the combined clusters for each region to obtain a single 3D model view of the scene.

公开(公告)号：US10930062B2

公开(公告)日：2021-02-23

申请号：US16516155

申请日：2019-07-18

Applicant: RAYTHEON COMPANY

Inventor： Jacob Wesely Gallaway ,  Jeremy Jens Gerhart ,  Stephen J. Raif ,  Jody Dale Verret

IPC: G06T17/05 ,  G06T17/00 ,  G06T15/06 ,  G06T7/60 ,  G06T7/00 ,  G06T7/32 ,  G06T15/20

Abstract: A computer vision method, executed by one or more processors, for generating a single 3D model view of a geographic scene includes: receiving image data for the scene from a plurality of sensors located at different angles with respect to the geographic scene; dividing the image data into a plurality of image spatial regions; correlating the image data in each image spatial region to obtain a score for each image data in each image spatial region; grouping the image data in each image spatial region into two or more image clusters, based on the scores for each image; performing a multi-ray intersection within each image cluster to obtain a 3D reference point for each region; for each region, combining the one or more clusters, based on the 3D reference point for the region; and registering the combined clusters for each region to obtain a single 3D model view of the scene.