Patent ID: 9332243
Filing Date: 2016-05-03
CPC Classification: G06T,H04N

Claim Text:
1. A mobile handheld imaging system for creating a digital 3D model of the environment by capturing a plurality of images of a scene, in real time, comprising: an image/depth capture module for capturing a plurality of digital images to obtain depth information and color information; a handheld computer system having a processor, a display with user interface controls, and a communications module, wherein the processor is in communication with the image/depth capture module; and a non-transitory computer readable medium having encoded thereon a set of instructions executable by the processor to perform one or more operations, comprising: capturing the plurality of digital images of a scene; utilizing an initial digital image of the plurality of digital images to initialize a 3D model; and extending the 3D model by transforming a location of new points from at least one of a plurality of the subsequent captured digital images captured subsequent to the initial digital image into the coordinate system; of the 3D model by using the subsequent captured digital image's pose, and adding the new points into the 3D model if the overlap of the subsequent captured digital image with the 3D model falls below a threshold, otherwise discarding at least one of the plurality of new points of the subsequent captured digital image; using the estimates of poses, and the depth information and color information of all of the plurality of captured digital images which have been used to initialize or extend the 3D model, and that together represent the 3D model, as an input to a mathematical global optimization process which optimizes the input poses and the depth information and color information by global registration of the 3D model thereby increasing the accuracy and optical quality of the captured 3D model; and displaying a rendering of the plurality of captured digital images as a visualization of the 3D model in the mobile handheld imaging system.