Patent ID: 9191648
Filing Date: 2015-11-17
Classification: A61B,G06T,H04N

Abstract:
1. A method comprising: obtaining a first three-dimensional model including a first plurality of sets of three-dimensional points spatially related to one another by a first camera path; obtaining a second three-dimensional model including a second plurality of sets of three-dimensional points spatially related to one another by a second camera path; registering one of the first plurality of sets of three-dimensional points to one of the second plurality of sets of three-dimensional points to place the first three-dimensional model and the second three-dimensional model in a shared coordinate system; creating a virtual stitch graph that spatially relates the first plurality of sets and the second plurality of sets, thereby providing a combined model that includes the first plurality of sets and the second plurality of sets all spatially related by the virtual stitch graph; and refining the combined model with a global motion optimization of the virtual stitch graph.