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. 04, 2016
Filed:
Jun. 17, 2015
Mitsubishi Electric Research Laboratories, Inc., Cambrige, MA (US);
Srikumar Ramalingam, Cambridge, MA (US);
Yuichi Taguchi, Arlington, MA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
A method reconstructs a three-dimensional (3D) scene as a three-dimensional (3D) model by first acquiring red, green, blue, and depth (RGBD) images with a sensor, and wide field-of-view (FOV) red, green, and blue (RGB) images with a camera from different viewpoints. Pair-wise point matches among the RGBD images and the RGB images are identified, and a graph of nodes and edges is constructed using the pair-wise point matches. Initial poses of the RGBD images and the RGB images are estimated using pose constraints associated with the edges, and an initial 3D model of the scene is estimated using the estimated poses. Then, erroneous edges are removed in the graph, and bundle adjustment is applied to the initial poses and the initial 3D model to obtain refined poses and the 3D model of the scene.