Creating a mesh from a sparse structure-from-motion point cloud using co-visibility of points

摘要

A method for creating a three-dimensional mesh model of a structure includes accessing a set of three-dimensional points associated with a set of images of the structure. For each three-dimensional point in the set of three-dimensional points, the method determines a reference image, identifies a subset of images from the set of images of the structure taken within a distance from the reference image, determines a subset of three-dimensional points seen by the subset of images, filters the subset of three-dimensional points to retain only a set of co-visible points that lie in a visibility cone of the reference image, and selects a normal using the set of co-visible points. The three-dimensional mesh model of the structure is computed using the selected normal, and the model may be provided to a second computing device.

主权项

1. A method for creating a three-dimensional mesh model of a structure, comprising:
accessing a set of three-dimensional points associated with a set of images of the structure; for each three-dimensional point in the set of three-dimensional points: determining, using one or more processors of a computing device, a reference image; identifying, using the one or more processors, a subset of images from the set of images of the structure, the subset taken within a distance from the reference image; determining, using the one or more processors, a subset of three-dimensional points seen by the subset of images; filtering, using the one or more processors, the subset of three-dimensional points to retain only a set of co-visible points that lie in a visibility cone of the reference image; creating, using the one or more processors, two possible solutions for a surface normal using the set of co-visible points, and selecting, using the one or more processors, a normal from the two possible solutions for a surface normal; computing, using the one or more processors, the three-dimensional mesh model of the structure using the selected normals; and providing the three-dimensional mesh model to a second computing device.