Space capture, modeling, and texture reconstruction through dynamic camera positioning and lighting using a mobile robot

Abstract

A method is provided, including: using a robot having a plurality of sensors to acquire sensor data about a local environment; processing the sensor data to generate a spatial model of a real object, the spatial model defining virtual surfaces that correspond to real surfaces of the real object; further processing the sensor data to generate texture information that is associated to the virtual surfaces; wherein using the robot to acquire sensor data includes sampling at least one representative portion by moving the robot to different locations and capturing images of a given representative portion from a plurality of angles; wherein processing the sensor data to generate the texture information includes processing the images captured from the plurality of angles to generate texture information; using the spatial model and the texture information to render a virtual object corresponding to the real object in a virtual environment.