Real-Time Dynamic Three-Dimensional Adaptive Object Recognition and Model Reconstruction

摘要

Methods and systems are described for generating a three-dimensional (3D) model of an object represented in a scene. A computing device receives a plurality of images captured by a sensor, each image depicting a scene containing physical objects and at least one object moving and/or rotating. The computing device generates a scan of each image comprising a point cloud corresponding to the scene and objects. The computing device removes one or more flat surfaces from each point cloud and crops one or more outlier points from the point cloud after the flat surfaces are removed using a determined boundary of the object to generate a filtered point cloud of the object. The computing device generates an updated 3D model of the object based upon the filtered point cloud and an in-process 3D model, and updates the determined boundary of the object based upon the filtered point cloud.

主权项

1. A computerized method for generating a three-dimensional (3D) model of an object represented in a scene, the method comprising:
receiving, by an image processing module executing on a processor of a computing device, a plurality of images captured by a sensor coupled to the computing device, each image depicting a scene containing one or more physical objects, wherein at least one of the objects moves and/or rotates between capture of different images; generating, by the image processing module, a scan of each image comprising a 3D point cloud corresponding to the scene and objects; removing, by the image processing module, one or more flat surfaces from each 3D point cloud and cropping one or more outlier points from the 3D point cloud after the flat surfaces are removed using a determined boundary of the object to generate a filtered 3D point cloud of the object; generating, by the image processing module, an updated 3D model of the object based upon the filtered 3D point cloud and an in-process 3D model; and updating, by the image processing module, the determined boundary of the object based upon the filtered 3D point cloud.