Cognitens Ltd.

Other

Tamir Shalom

Ilan Zelnik

Amnon Shashua

Dan Albeck

Meny Benady

Arie Rudich

Eyal Yosef

Nir Tsuk

Jacob Goldberger

Methods and systems are provided for generating a digital model of at least a part of an object referenced to a global coordinate system. An initial digital model, referenced to a local coordinate system associated with the optical device and representative of the respective part, is provided using an optical device at a relative location with respect to the object. The optical device has a plurality of visually exposed optical markers, at known locations with respect to the optical device and referenced to a marker coordinate system. The location of the optical device with respect to an external camera arrangement is determined, based on relating the relative locations of the markers with respect to one another, as they appear from a viewpoint of the external camera arrangement, to their relative locations as referenced to the marker coordinate system. The camera viewpoint is at a known location referenced to the global coordinate system. A transformed digital model is generated, representative of the respective part and referenced to the global coordinate system, based on modifying the initial digital model according to the location of the optical device.

Method and system for providing a digital model of an object

A system and method are described for aligning a locally-reconstructed three-dimensional object, whose local reconstruction is relative to a local coordinate system, to a global coordinate system by using pre-mapped control points which are projected onto one or more of the images that may be used to generate the local reconstruction. A system includes a control point information generator and an alignment generator. The control point information generator is configured to identify in at least image associated with a local reconstruction of the object a projection of at least one control point in the scene onto the at least one image, and generate local projected coordinate information indicating coordinates of the projection in the at least one image. The alignment information generator is configured to utilize the local projected coordinate information and mapping information relating to global coordinate information indicating coordinates of the at least one control point relative to the global coordinate system to generate alignment information relating a local coordinate system associated with the local reconstruction to the global coordinate system.

System and method for aligning a locally-reconstructed three-dimensional object to a global coordinate system using partially-detected control points

A system for reconstructing the surface geometry of an object includes a three-view optic head, a mechanical manipulator, a local 3D surface geometry reconstruction unit and a surface geometry stitching unit. The three-view optic head is operative to generate at least three views of at least a portion of the object. The mechanical manipulator is operative to vary the relative orientation of the object and the optic head, at a precision less than the a predetermined degree of precision, from a first relative orientation in which a first portion of the object is visible to at least one second relative orientation in which a second portion of the object, which overlaps the first portion, is visible. The local 3D surface geometry reconstruction unit is operative to generate local reconstructions of the surface geometries of the first and second portions of the object, based on at least two of three views of the first and second portions generated by the optic head. The surface geometry stitching unit is operative to determine the relative locations of the first and second portions of the object.

Apparatus and method for 3-dimensional surface geometry reconstruction

A system is disclosed for stitching a plurality of reconstructions of three-dimensional surface features of at least one object in a scene to relate the reconstructions to a common coordinate system. Each reconstruction is generated from a plurality of two-dimensional images of the scene, and each reconstruction is defined relative to a respective one of a plurality of reconstruction coordinate systems defined relative to one of the images in the scene. The system generates, from at least some of the images, values for translational and rotational components relating a respective reconstruction coordinate system to the common coordinate system. Thereafter, the system uses the values of the translational and rotational components to convert coordinates of the surface features in the respective reconstruction coordinate systems to the common coordinate system. In embodiments of the system, the common coordinate system is selected to be one of the reconstruction coordinate systems, and the values for translational and rotational components relating the other reconstruction coordinate system(s) to the common coordinate system uses overlapping regions of the images which define the respective reconstruction coordinate systems. In those embodiments, the system first determines the dominate translation that best aligns the largest portions of the image which defines the common coordinate system and the other images, shifts the other images by the amount of the dominate translation and then generates a pixel-to-pixel correspondence to generate a displacement field. From the dominate translation and the displacement field, the system generates the values for the translational and rotational components.

System and method for &ldquo;Stitching&rdquo; a plurality of reconstructions of three-dimensional surface features of object(s) in a scene defined relative to respective coordinate systems to relate them to a common coordinate system

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Tel Aviv, Israel

Tamir Shalom