Patent ID: 7010158

Claim:
A method for deriving a three-dimensional model of a scene from a plurality of images of the scene, said method comprising the steps of: (a) generating a plurality of three-dimensional panoramic images of a scene, wherein each three-dimensional panoramic image is derived from a plurality of range images captured from a distinct spatial position; (b) determining transformations that align the plurality of three-dimensional panoramic images; (c) integrating spatial information from the plurality of three-dimensional panoramic images to form a spatial three-dimensional model of the scene; and (d) integrating intensity and texture information from the plurality of three-dimensional panoramic images onto the spatial three-dimensional model to form a three-dimensional model of the scene containing both spatial and intensity information; wherein the step (a) of generating a plurality of three-dimensional panoramic images further comprises: (i) positioning a camera at a first distinct spatial location; (ii) acquiring the plurality of range images of the scene by rotating the camera about a vertical axis relative to the scene, wherein there is an inter-overlap region between adjacent images; (iii) forming a three-dimensional panoramic image about the vertical axis from the plurality of range images acquired in step (ii); and (iv) generating a plurality of three-dimensional panoramic images by repeating steps (i) through (iii) at additional spatial positions in the scene.