Patent Document ID: 9070216
Application ID: 13712362
Patent Status: 1

Claim One:
1. A computer system comprising: at least one processor; non-transitory computer readable storage medium storing an unordered group of images obtained from photographs taken at a site and instructions that, when executed by the at least one processor, cause the at least one processor to: access the unordered group of images in the storage; meld together the unordered group of images to reconstruct dense three-dimensional (3D) and four-dimensional (4D) as-built point cloud models (“as-built models”) comprising merged pixels from the unordered group of images accessed over time, where time is a fourth dimension added to the three dimensions of the site captured from the unordered group of images; transform the 3D as-built model to a site coordinate system to be jointly visualized with a 3D as-planned building information model (“as-planned model”); Integrate the merged pixels of the as-built models with pixels of the as-planned model to generate an integrated scene; and apply a probabilistic model that traverses the integrated scene of the site and labels different areas of the integrated scene according to as-built occupancy and as-planned visibility, wherein to cause the at least one processor to apply a probabilistic model comprises to cause the at least one processor to: assign each of a plurality of voxels a set of labels including as-built and as-planned labels based on application of the probabilistic model; and assign a state to respective voxels with as-built labels based on a consistent visibility from projections of respective voxels onto the unordered group of images, the consistent visibility being between the merged pixels of respective voxels and a plurality of camera locations of cameras that provide the unordered group of images; where to assign the set of labels and the state to respective voxels is performed in an order of increasing distance from the plurality of camera locations.