Patent Document ID: 9947134
Application ID: 14418325
Patent Flag: 1

Claim One:
1. A system for generating a dynamic three-dimensional model of a space, the system comprising: a camera module comprising: an optical sensor that records image information of the space, and a depth sensor that records depth information of the space, a modelling module that generates the dynamic three-dimensional model of the space based on the image information and the depth information, the camera module being configured so that the image information recorded with the optical sensor and the depth information recorded with the depth sensor are recorded at a plurality of discrete times, a synchronization signal generating module that determines the discrete times associated with the image information and the discrete times associated with the depth information synchronously with each other; and a base module that generates the dynamic three-dimensional model at the plurality of the discrete times of the image information and of the depth information and at each of the discrete times when the dynamic three-dimensional model is supplemented with new image information and new depth information, and integrates the image information and the depth information associated with a given discrete time into the dynamic three-dimensional model based on a position and an orientation of the camera module at the given discrete time, the position and the orientation being determined by the modelling module based on information provided by the depth sensor and the optical sensor of the camera module at the discrete times in an observation window, wherein the observation window comprises, for the given discrete time of the dynamic three-dimensional model, at least one discrete time preceding the given discrete time and at least one discrete time subsequent to the given discrete time, the at least one discrete time subsequent to the given discrete time causing a delay in the integration of the image information and the depth information associated with the given discrete time.