System and method for geometric modeling using multiple data acquisition means

摘要

A system and a method for modeling a predefined space including at least one three-dimensional physical surface, referred to hereinafter as a “measuring space”. The system and method use a scanning system enabling to acquire three-dimensional (3D) data of the measuring space and at least one two-dimensional (2D) sensor enabling to acquire 2D data of the measuring space. The system and method may enable generating a combined compound reconstructed data (CRD), which is a 3D geometrical model of the measuring space, by combining the acquired 2D data with the acquired 3D data, by reconstructing additional 3D points, from the combined 3D and 2D data thereby generating the CRD model. The generated CRD model includes a point cloud including a substantially higher density of points than that of its corresponding acquired 3D data point cloud from which the CRD was generated.

主权项

1. A method of geometrical modeling comprising:
acquiring from a scene 3D data to provide an acquired point-cloud having N points in a 3D coordinate system: acquiring from said scene a 2D image defined over a two-dimensional array of M pixels; and based on both said 2D image and said acquired point-cloud, using a processor to create additional points in said 3D coordinate system by associating pixels in said 2D array with direction vectors deduced using said 3D data, and generating a three-dimensional model of said scene using said additional points in said 3D coordinate system, said three-dimensional model being defined over a reconstructed point-cloud having P points at a higher density than that of said acquired point-cloud, wherein said P, said N and said M satisfy the relation N