Identifying and filling holes across multiple aligned three-dimensional scenes

摘要

The capture and alignment of multiple 3D scenes is disclosed. Three dimensional capture device data from different locations is received thereby allowing for different perspectives of 3D scenes. An algorithm uses the data to determine potential alignments between different 3D scenes via coordinate transformations. Potential alignments are evaluated for quality and subsequently aligned subject to the existence of sufficiently high relative or absolute quality. A global alignment of all or most of the input 3D scenes into a single coordinate frame may be achieved. The presentation of areas around a particular hole or holes takes place thereby allowing the user to capture the requisite 3D scene containing areas within the hole or holes as well as part of the surrounding area using, for example, the 3D capture device. The new 3D captured scene is aligned with existing 3D scenes and/or 3D composite scenes.

主权项

1. A method, comprising:
receiving, by a system comprising a processor, two or more sets of three dimensional data comprising points in a three dimensional coordinate space, wherein the points are respectively associated with three dimensional feature information, and wherein the two or more sets are associated with different capture positions relative to the three dimensional coordinate space; determining, by the system, an alignment between the two or more sets of three dimensional data based on the three dimensional feature information for the points respectively included therein; generating, by the system, a three dimensional representation of an environment with the two or more sets of three dimensional data based on the alignment; and filling, by the system, a hole identified in the three dimensional representation of the environment.