Patent Document ID: 9466143
Application ID: 13887096
Patent Status: 1

Claim One:
1. A method of generating a three-dimensional reconstruction of a scene, the method comprising: generating a high-fidelity point cloud representing a three-dimensional reconstruction of a scene from a plurality of two-dimensional images generated by at least one sensor whose position and orientation are known relative to a fixed coordinate system for each of the two-dimensional images, the high-fidelity point cloud being generated in a relative coordinate system without regard to the position and orientation of the at least one sensor relative to the fixed coordinate system; generating in the fixed coordinate system a low-fidelity point cloud representing a three-dimensional reconstruction of the scene from the plurality of two-dimensional images using the position and orientation of the at least one sensor relative to the fixed coordinate system such that the high-fidelity point cloud and the low-fidelity point cloud are generated from the same plurality of two-dimensional images, the low-fidelity point cloud having a lower fidelity than the high-fidelity point cloud due to physical sensor model errors in the position and orientation of the at least one sensor; determining a transformation between the relative coordinate system and the fixed coordinate system based on a relationship between points in the high-fidelity point cloud and corresponding points in the low-fidelity point cloud; and converting the high-fidelity point cloud from the relative coordinate system to the fixed coordinate system by applying the transformation to points in the high-fidelity point cloud, wherein an impact of the physical sensor model errors on the high-fidelity point cloud in the fixed coordinate system is limited to errors introduced in the transformation.