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Systems and methods that generate height map models for efficient three dimensional reconstruction from depth information

United States Patent

December 8, 2015
View the Complete Patent at the US Patent & Trademark Office
Methods of generating a three dimensional representation of an object in a reference plane from a depth map including distances from a reference point to pixels in an image of the object taken from a reference point. Weights are assigned to respective voxels in a three dimensional grid along rays extending from the reference point through the pixels in the image based on the distances in the depth map from the reference point to the respective pixels, and a height map including an array of height values in the reference plane is formed based on the assigned weights. An n-layer height map may be constructed by generating a probabilistic occupancy grid for the voxels and forming an n-dimensional height map comprising an array of layer height values in the reference plane based on the probabilistic occupancy grid.
Frahm; Jan-Michael (Chapel Hill, NC), Pollefeys; Marc Andre Leon (Zurich, CH), Gallup; David Robert (Bothell, WA)
The University of North Carolina at Chapel Hill (Chapel Hill, NC), Eidgenossische Technische Hochschule Zurich (Zurich, CH)
13/ 578,758
February 11, 2011
STATEMENT OF U.S. GOVERNMENT INTEREST This invention was made with Government support under Contract No. DE-FG52-08NA28778 awarded by The U.S. Department of Energy. The Government has certain rights in the invention.