Space carving in 3D data acquisition

摘要

Three-dimensional scanning is improved with the use of space carving to exclude certain scan results from processing and display. Using space carving techniques, a spatial matrix is maintained to store data on volumetric regions (or voxels) known to be empty. By excluding or modifying processing of outlier data from within these unoccupied voxels, a three-dimensional reconstruction process can achieve concurrent improvements in accuracy and speed. In addition, a real time display of scan results can be improved by modifying how such outliers are rendered.

主权项

1. A method comprising:
storing a spatial matrix in a memory, the spatial matrix including information for a plurality of voxels in a mesh of a scan space; obtaining three-dimensional data from an object within the scan space using a scanner; identifying a one of the plurality of voxels in the mesh that is unoccupied; storing an indication in the spatial matrix for a modified processing of data from the one of the plurality of voxels, thereby identifying a prohibited volume within the scan space; and processing a portion of the three-dimensional data that is not in the prohibited volume according to an unmodified processing and processing a second portion of the three-dimensional data that is in the prohibited volume according to the modified processing, wherein the modified processing includes detecting a point in the prohibited volume and displaying the point for a decay time with the second portion of the three-dimensional data.