Sony Group Corporation

Sony Corporation

Sony Mobile Communications Inc.

Fredrik Mattisson

Johannes Elg

Fredrik Olofsson

Lars Novak

Francesco Michielin

Mattias Walls

Daniel Linåker

Pal Szasz

Jonas Gustavsson

Sebastian Farås

Henrik Vallgren

Bo-Erik Månsson

Roderick Köehle

Ola Karl Thörn

Sebastian Haner

Anders Wikander

Roderick Köhle

Henrik Tuszynski

Ola Thörn

An electronic device includes a processor and a memory coupled to the processor. The memory includes a computer readable storage medium having computer readable program instructions stored therein that are executable by the processor to determine a position and/or orientation of sensor device that is arranged to capture data for a subject from the position and/or at the orientation, and, based on the position and/or orientation that was determined, control creation of a 3D representation of the subject from the data captured by the sensor device. Related methods and computer program products are also discussed.

Electronic devices, methods, and computer program products for controlling 3D modeling operations based on pose metrics

Methods, systems, and computer program products for improving the generation of a 3D representation of an object may include adding a distribution of additional points to plurality of points representative of captured portions of the object based on a computational analysis of the plurality of points, and performing a surface reconstruction on the plurality of points and the distribution of additional points to generate a three-dimensional mesh representation of the object that is watertight.

Methods, devices, and computer program products for improved mesh generation in constructed 3D images

A method of generating a 3D model may include receiving a plurality of 2D images of a physical object captured from a respective plurality of viewpoints in a 3D scan of the physical object in a first process. The method may include receiving a first process 3D mesh representation of the physical object and calculating respective second process estimated position and/or orientation information for each one of the respective plurality of viewpoints of the plurality of 2D images. The method may include generating a second process 3D mesh representation of the physical object using the plurality of 2D images, the second process estimated position and/or orientation information, and the first process 3D mesh representation of the physical object. The method may include generating a 3D model of the physical object by applying surface texture information from the plurality of 2D images to the second process 3D mesh representation of the physical object.

Methods, devices and computer program products for generating 3D models

Methods of constructing a printable three-dimensional (3D) model are provided. A method of constructing a printable 3D model includes constructing a ray-cast mesh representation of an object by using ray-casting on a preliminary digital 3D model of the object. Moreover, the method includes converting the preliminary digital 3D model of the object into the printable 3D model, of the object by adding, to the preliminary digital 3D model of the object, an interior surface that is based on the ray-cast mesh representation. Related devices and computer program products are also provided.

Methods of constructing a printable 3D model, and related devices and computer program products

A method for estimating a 3D map is described. The method includes performing an initialization of a plurality of 3D points in the 3D map based on the plurality of 2D images, reprojecting ones of the 3D points onto ones of the 2D images to obtain reprojection points, determining respective reprojection errors of ones of the reprojection points, determining a robust camera parameter associated with a weighting function based on the respective reprojection errors, and performing bundle adjustment to update the 3D map and update the plurality of poses, based on the robust camera parameter and the weighting function. Related systems, devices and computer program products are also described.

Methods, devices and computer program products for global bundle adjustment of 3D images

Methods of determining whether an environment is suitable or acceptable for performing a three-dimensional (3D) scan are provided. The methods may include performing one or more checks on captured image data of the environment, wherein performing each of the one or more checks comprises determining whether the environment satisfies a respective criterion. The method may further include determining that the environment is suitable or unsuitable for performing the 3D scan based on a result of each performed check. Determining that the environment is suitable for performing the 3D scan may include determining that the environment satisfies each of the respective criteria of the performed one or more checks. Determining that the environment is unsuitable for performing the 3D scan may include determining that the environment does not satisfy at least one criterion of the performed one or more checks. Related devices and computer program products are also provided.

Methods, devices, and computer program products for checking environment acceptability for 3D scanning

Image processing devices and methods according to embodiments of the invention advantageously utilize computationally efficient and high speed operations based on dynamic camera models to support rapid determination of multiple camera intrinsics. These built-in dynamic models can utilize varying focus distance values as inputs (i.e., operands) to generate respective intrinsic parameters as outputs, as a stream of images are captured and processed in real time to possibly determine pose and position of a three-dimensional (3D) object during 3 image scanning.

Image processing devices that utilize built-in dynamic camera models to support rapid determination of camera intrinsics and methods of operating same

Image processing devices utilize computationally efficient operations based on exposure time and object speed to detect and estimate motion blur. These operations include determining, from a plurality of image frames of an object, a representative length of movement associated with at least one feature point of the object, which undergoes movement between the plurality of image frames. This representative length of movement is converted to an estimate of motion blur for a respective image frame, using operations that are function of length of movement and exposure time.

Image processing devices with efficient motion blur detection and methods of operating same

A method for determining the scale of a digital 3D model may include receiving, corresponding to a plurality of images, a respective plurality of first distances between the camera and the object in the environment and calculating, using a simultaneous localization and mapping (SLAM) algorithm, a plurality of second distances between the camera and the object in the 3D model of the environment. The method may include calculating a plurality of ratios corresponding to the plurality of images based on respective ones of the plurality of first distances and respective ones of the second distances and determining a scale of the 3D model based on the plurality of ratios. The method may include creating a scaled digital 3D model based on the 3 D model and the determined scale of the 3 D model. Distances and sizes in the scaled 3D model may correspond to actual distances and sizes of the environment.

Simultaneous localization and mapping (SLAM) devices with scale determination and methods of operating the same

A method for estimating a 3D map and a plurality of poses is described. The method includes non-recursively performing an initialization of the 3D map and the respective poses of the plurality of poses based on a plurality of first 2D images of the series of 2D images, and recursively performing sequential updating of the 3D map based on recursively updating the 3D map for respective ones of a plurality of second 2D images of the series of 2D images. Related systems, devices and computer program products are also described.

Methods, devices and computer program products for 3D mapping and pose estimation of 3D images

Methods, systems and computer program products for the generation of 3D images may include receiving a plurality of points that correspond to a surface of an object, generating a first mesh representation of a shape of the object, the first mesh representation comprising a plurality of polygons, respective ones of the plurality of polygons comprising at least three vertices and at least three edges, associating the plurality of points with a first set of the plurality of polygons, classifying a portion of the plurality of points as background points, and adjusting the first mesh representation of the object to create a second mesh representation of the object by removing from the first mesh representation at least one of the first set of the plurality of polygons that is associated with the portion of the plurality of points that are classified as the background points.

Methods, devices and computer program products for generation of mesh in constructed 3D images

A method of generating a refined depth map for a three-dimensional (3D) model of an object is described. The method may include may include warping a set of target images, resulting in warped target images, wherein the set of target images is selected from the plurality of images; determining a difference between each warped target image and a reference image, wherein the reference image is from the plurality of images; determining, for each warped target image, an alpha mask comprising per-pixel weights; and updating an initialized depth map based on alpha mask, resulting in the estimated depth map. Related systems, devices and computer program products are also described.

Methods, devices and computer program products for gradient based depth reconstructions with robust statistics

A method for creating a 3D image is described. The method includes receiving a plurality of 2D images of an object, identifying respective 2D positions of one or more features in each of the plurality of 2D images, generating a 3D representation of the object, based on the respective 2D positions of the one or more features in each of the plurality of 2D images, and determining a 3D angular orientation of the 3D representation of the object based on relative positions of the one or more features in the 3D representation of the object. Related systems, devices and computer program products are also described.

Methods, devices and computer program products for creating textured 3D images

Methods, systems, and computer program products for removing unused portions of a 3D mesh representation of an object may include generating a first mesh representation of the object, the first mesh representation including a plurality of polygons, respective ones of the polygons including at least three vertices and at least three edges, wherein respective ones of the plurality of polygons are associated with a precision value that indicates an extent to which the respective ones of the plurality of polygons in the first mesh representation match the object, and adjusting the first mesh representation of the object to create a second mesh representation of the object by removing, front the first mesh representation, polygons of the plurality of polygons that are associated with precision values that have not been modified from an initial precision value.

Methods, devices and computer program products for generation of mesh in constructed 3D images containing incomplete information

The invention is directed to exposure control in a camera. An exemplary method comprises determining depth information associated with a portion of an image frame; obtaining exposure data associated with the portion of the image frame; and controlling an amount of exposure for the portion of the image frame based on the depth information and the exposure data.

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Lund, Sweden

Fredrik Mattisson