Patent ID: 9438891
Filing Date: 2016-09-06
CPC Classification: G06T,H04N

Claim Text:
1. A system comprising: an acquisition module that receives visible image data and range data of a scene from two or more vantage points via one or more range data acquisition devices and one or more visible image acquisition devices; a model creation module that produces, for a vantage point, a three-dimensional (3D) model by combining range data and visible image data from that vantage point; and a scene registration module, communicatively coupled to the model creation module, that performs scene registration to acquire geometric transformations for merging two or more 3D models of the scene from different vantage points into a source-independent canonical space; wherein the scene registration module is configured to perform the steps comprising: responsive to an input device having part of its sensors affected by one or more conditions in its field of view, generating an image mask for the input device to mask the affected part of its sensors; positioning a point acquisition device within the field of view of at least two input devices; using one or more signals from the point acquisition device to generate points which are used to find correspondences of points between data captured by at least two input devices; using the correspondences of points to identify three-dimensional points in each of a plurality of image data of a scene; and using at least some of the identified three-dimensional points to obtain a scene registration matrix.