The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 15, 2019
Filed:
Nov. 21, 2014
Apple Inc., Cupertino, CA (US);
Sebastian Knorr, Mountain View, CA (US);
Daniel Kurz, Sunnyvale, CA (US);
Apple Inc., Cupertino, CA (US);
Abstract
The invention, in one aspect, is related to a method of determining spatial coordinates of a 3D reconstruction of at least part of a first real object at absolute spatial scale comprising the steps of: receiving image information of a first image including at least part of the first real object captured with a first camera, of a third image including the at least part of the first real object captured with a third camera, of a second image including at least a first part of a second real object captured with a second camera, and of a fourth image including at least a second part of the second real object captured with a fourth camera, wherein the frustum of the first camera and the frustum of the second camera do not overlap and wherein the frustum of the third camera and the frustum of the fourth camera do not overlap, and providing a first spatial transformation between the first camera and the second camera and providing a second spatial transformation between the third camera and the fourth camera, providing a first scale information indicative of an absolute spatial scale of the at least first part of the second real object, and a second scale information indicative of an absolute spatial scale of the at least second part of the second real object, determining at least part of a pose (PF) of the second camera and at least part of a pose (PF) of the fourth camera according to the second image, the first scale information, the fourth image and the second scale information, wherein the at least part of the pose (PF) of the second camera and the at least part of the pose (PF) of the fourth camera are defined in a second common coordinate system, determining at least part of a pose (PF) of the first camera according to the at least part of the pose (PF) of the second camera and the first spatial transformation, and determining at least part of a pose (PF) of the third camera according to the at least part of the pose (PF) of the fourth camera and the second spatial transformation, and determining spatial coordinates of a 3D reconstruction of the at least part of the first real object at absolute spatial scale according to the first image, the third image and the at least part of the pose (PF) of the first camera and the at least part of the pose (PF) of the third camera.