Patent ID: 6246412
Filing Date: 2001-06-12
Classification: G06T

Abstract:
A computer-implemented process to refine a model of a 3D scene using a panoramic view of the scene, comprising the use of a computer to perform the following steps:displaying an image of a panoramic view of the 3D scene as a screen image;recovering a camera orientation matrix of the panoramic view based on lines associated with at least one plane of the 3D scene as specified by a user of the computer-implemented process;recovering a camera translation using the camera orientation matrix, wherein the camera translation is the difference between the camera projection center and the coordinate origin of the 3D scene;projecting a previously constructed model of the 3D scene comprising one or more sets of interconnected lines forming planes representative of the scene onto the screen image of the panoramic view using the camera orientation matrix and camera translation derived from panoramic view;moving any portion of the projected model not aligned with its corresponding feature in the screen image of the panoramic view so as to be in alignment with that feature;estimating plane normals and line directions for planes in the 3D scene which are to be modeled using the camera orientation matrix and the projected previously constructed model;estimating unknown plane distances and vertex point locations, of each plane in the 3D scene which is to be modeled, by steps comprising the solving of a system of linear geometric constraint equations created using the estimated plane normals and line directions derived from the panoramic view of the 3D scene;constructing a refined model of the 3D scene consisting of at least one set of connected planes based on the plane normal and plane distance, and/or the vertex point locations, of each plane in the set.