METHOD AND SYSTEM FOR 3D CAPTURE BASED ON STRUCTURE FROM MOTION WITH POSE DETECTION TOOL

摘要

Method and System for 3D capture based on SFM with simplified pose detection is disclosed. This invention provides a straightforward method to directly track the camera's motion (pose detection) thereby removing a substantial portion of the computing load needed to build the 3D model from a sequence of images.

主权项

1. A 3D modeling capture device comprising
a camera which captures a sequence of images from a sequence of poses relative to the scene or objects being mapped an IMU (inertial measurement unit) engine fixed to the camera which tracks the orientation of the camera about multiple axes a laser rangefinder fixed to the camera which determines the distance from the camera to a point in each image in the sequence of images a pose engine which determines the orientation and position of the camera from the output of the IMU and the laser rangefinder; a SFM (Structure from Motion) engine which tracks the relative movement of features in a scene from one image to another image and generates a structural model of the scene; a mapping engine which combines product from the pose engine with product from the SFM engine to provide dimensionally correct 3D map output of the scene.