Patent Document ID: 8982118
Application ID: 13302027
Patent Status: 1

Claim One:
1. A structure discovery system, the system comprising: a communication processor configured to receive 3-dimensional image data from an imaging device; a surface discovery processor configured to rotate the 3-dimensional image data around axes in 3-dimensional space of the 3-dimensional image data to align points of at least one structure in the 3-dimensional image data and project the at least one structure onto a coordinate plane, wherein rotation of the 3-dimensional image data includes: i) rotating the 3-dimensional data through a first angle around a z axis, wherein rotation of the 3-dimensional data through a first angle orients facades of structures into a line projection, ii) rotating the 3-dimensional data through a second angle around a y-axis, wherein rotation of the 3-dimensional data around the second angle orients the facades of the structures into a vertical projection and iii) rotating the 3 -dimensional data through a third angle around the z-axis, wherein rotation of the 3-dimensional data through the third angle a) enables discovery of all facades of the structures, orientation of the facades, and b) enables separation and identification of foreground obscuring objects; a linear condensation identification processor configured to identify linear condensations in the rotated 3-dimensional image data; and a structure generation processor configured to generate the at least one structure based on the linear condensations and the rotated 3-dimensional image data.