JP2014507723A5 - - Google Patents
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- JP2014507723A5 JP2014507723A5 JP2013552531A JP2013552531A JP2014507723A5 JP 2014507723 A5 JP2014507723 A5 JP 2014507723A5 JP 2013552531 A JP2013552531 A JP 2013552531A JP 2013552531 A JP2013552531 A JP 2013552531A JP 2014507723 A5 JP2014507723 A5 JP 2014507723A5
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Claims (14)
- 現実世界環境の3Dモデルを生成するコンピューター実装方法であって、
前記モデルを格納するためのメモリー・デバイスに三次元立体空間を作成するステップであって、前記立体空間は複数のボクセルを含む、ステップと、
キャプチャー・デバイスの位置および向きを記述するデーターと、前記キャプチャー・デバイスから出力された前記環境の少なくとも一部の深度画像とを受け取るステップであって、前記深度画像は複数の画素を含み、各画素は、前記キャプチャー・デバイスから前記環境内における1つの点までの距離を示す、ステップと、
前記立体空間の平面内にある各ボクセルに、別個の実行スレッドを割り当てるステップと、
各実行スレッドが、前記キャプチャー・デバイスの位置および向きを用いて、前記深度画像においてそれに関連付けられたボクセルに対する対応位置を判定し、前記関連付けられたボクセルと前記環境内の前記対応位置における点との間の距離に関係する係数を決定し、前記係数を用いて前記関連付けられたボクセルに格納されている値を更新するステップと、
各実行スレッドが、前記ボリュームの残っている平面の各々において同等のボクセル毎に反復して、ボクセル毎に、前記係数を決定するステップと、格納されている値を更新するステップを繰り返すステップと、
を含む、コンピューター実装方法。 - 請求項1記載の方法であって、更に、前記係数を判定するステップの前に、前記対応位置が前記キャプチャー・デバイスの台形の内部にあるか否か判定するステップを含む、方法。
- 請求項1記載の方法において、前記キャプチャー・デバイスの位置および向きを用いて、前記深度画像においてそれに関連付けられたボクセルに対する対応位置を判定するステップは、
現実世界座標において前記ボクセルの位置を判定するステップと、
前記深度画像において前記関連付けられたボクセルに対する対応座標を決定するために、前記位置および向きを用いて、前記キャプチャー・デバイスの投影によって前記現実世界座標を投影するステップと、
を含む、方法。 - 請求項1記載の方法であって、更に、レイキャスティングを用いて、ディスプレイ・デバイス上における表示のために前記モデルの画像を生成するステップを含み、前記モデルの画像を生成する前記ステップは、
仮想カメラについての姿勢データーを受け取るステップと、
実行スレッドを各画像画素に割り当てるステップと、
各画像画素実行スレッドが、前記仮想カメラから発して前記関連付けられた画素を通る経路を決定し、前記経路を前記立体空間における座標に変換し、表面においてボクセルが検出されるまで前記経路に沿って前記立体空間内を動き、当該ボクセルに格納されている値を用いて、前記関連付けられたボクセルに対して陰影を計算するステップと、
を含む、方法。 - 請求項1記載の方法であって、更に、前記モデルからポリゴン・メッシュを生成し、前記ポリゴン・メッシュを記憶デバイスに格納するステップを含み、前記モデルからポリゴン・メッシュを生成する前記ステップは、前記モデルの一部を表すポリゴンを選択するために、マーチング・キューブ・アルゴリズムを用いるステップを含む、方法。
- 請求項1記載の方法において、前記係数を用いて前記関連付けられたボクセルに格納されている前記値を更新する前記ステップは、前記係数と、前記関連付けられたボクセルに格納されている以前の値とを合算するステップを含む、方法。
- 請求項6記載の方法において、更に、前記格納されている値と、前記関連付けられたボクセルの前記キャプチャー・デバイスからの距離に関係する重み付け関数とを用いて、加重平均を決定するステップを含む、方法。
- 請求項1記載の方法において、前記係数を決定するステップは、
前記関連付けられたボクセルが前記点の第1側に位置する場合、前記係数が正の値を有し、前記関連付けられたボクセルが前記点の反対側に位置する場合、前記係数が負の値を有するように、前記関連付けられたボクセルと、前記環境内の前記対応する位置における前記点との間における符合付き距離を計算するステップ
を含む、方法。 - 請求項8記載の方法において、前記係数を決定するステップは、更に、
前記係数が既定の正の閾値よりも大きいか否か判定を行い、大きい場合、前記係数を前記正の閾値に切り上げるステップと、
前記係数が既定の負の閾値よりも小さいか否か判定を行い、小さい場合、前記係数を前記負の第2閾値に切り下げるステップと、
を含む、方法。 - 現実世界環境の3Dモデルを生成するグラフィクス処理システムであって、
キャプチャー・デバイスの位置および向きを記述するデーターと、前記キャプチャー・デバイスからの出力された前記環境の少なくとも一部の深度画像とを受け取るように構成されている通信インターフェースであって、前記深度画像は複数の画素を含み、各画素は、前記キャプチャー・デバイスから前記環境における1つの点までの距離を示す、通信インターフェースと、
複数のスレッドの同時実行を提供するように構成されているグラフィクス処理ユニットと、
メモリー・デバイスと、
を備え、
前記グラフィクス処理ユニットは、前記モデルを格納するための前記メモリー・デバイスに三次元立体空間を作成し、前記立体空間は複数のボクセルを含み、前記立体空間の平面内にある各ボクセルに、別個の実行スレッドを割り当て、実行スレッド毎に、前記キャプチャー・デバイスの位置および向きを用いて、その関連付けられたボクセルに対する、前記深度画像における対応位置を判定し、前記関連付けられたボクセルと前記環境内の前記対応位置における点との間の距離に関係する係数を決定し、前記係数を用いて前記関連付けられたボクセルに格納されている値を更新し、前記ボリュームの残っている平面の各々において同等のボクセル毎に反復し、ボクセル毎に、前記係数の決定および格納されている値の更新を繰り返すように構成されている、グラフィクス処理システム。 - 請求項10記載のグラフィクス処理システムにおいて、前記グラフィクス処理ユニットは、前記係数と、前記関連付けられたボクセルに格納されている以前の値とを合算することによって、前記値を更新するように構成されている、グラフィクス処理システム。
- 請求項10記載のグラフィクス処理システムにおいて、前記グラフィクス処理ユニットは、前記関連付けられたボクセルが前記点の第1側に位置する場合、前記係数が正の値を有し、前記関連付けられたボクセルが前記点の反対側に位置する場合、前記係数が負の値を有するように、前記関連付けられたボクセルと、前記環境内の前記対応する位置における前記点との間における符合付き距離を計算することによって、前記係数を決定するように構成されている、グラフィクス処理システム。
- 請求項10記載のシステムにおいて、前記キャプチャー・デバイスが、あるフレーム・レートで複数の深度画像を供給するビデオ・カメラであり、前記グラフィクス処理ユニットが、更に、前記フレーム・レートで、前記立体空間内にある各ボクセルの前記格納値を繰り返し更新するように構成されている、システム。
- 請求項10記載のシステムにおいて、前記キャプチャー・デバイスが、構造化光発光器、飛行時間カメラ、およびステレオ・カメラの内少なくとも1つを備えている、システム。
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Application Number | Priority Date | Filing Date | Title |
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US13/017,690 | 2011-01-31 | ||
US13/017,690 US8587583B2 (en) | 2011-01-31 | 2011-01-31 | Three-dimensional environment reconstruction |
PCT/US2012/020686 WO2012106069A2 (en) | 2011-01-31 | 2012-01-09 | Three-dimensional environment reconstruction |
Publications (3)
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JP2014507723A JP2014507723A (ja) | 2014-03-27 |
JP2014507723A5 true JP2014507723A5 (ja) | 2015-02-26 |
JP5906258B2 JP5906258B2 (ja) | 2016-04-20 |
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JP2013552531A Active JP5906258B2 (ja) | 2011-01-31 | 2012-01-09 | 三次元環境の再現 |
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US (1) | US8587583B2 (ja) |
EP (1) | EP2671210B1 (ja) |
JP (1) | JP5906258B2 (ja) |
KR (1) | KR101861313B1 (ja) |
CN (1) | CN102622776B (ja) |
HK (1) | HK1172131A1 (ja) |
WO (1) | WO2012106069A2 (ja) |
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2012
- 2012-01-09 JP JP2013552531A patent/JP5906258B2/ja active Active
- 2012-01-09 EP EP12741552.9A patent/EP2671210B1/en active Active
- 2012-01-09 KR KR1020137020295A patent/KR101861313B1/ko active IP Right Grant
- 2012-01-09 WO PCT/US2012/020686 patent/WO2012106069A2/en active Application Filing
- 2012-01-30 CN CN201210021228.XA patent/CN102622776B/zh active Active
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7377837B2 (ja) | 2017-09-08 | 2023-11-10 | ナイアンティック, インコーポレイテッド | ゲームプレイを介して環境の詳細データセットを生成する方法およびシステム |
JP7223449B2 (ja) | 2019-08-23 | 2023-02-16 | 上海亦我信息技術有限公司 | 撮影に基づく3dモデリングシステム |
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