US 11,928,830 B2
Systems and methods for generating three-dimensional reconstructions of environments
Zhiguo Ren, Shanghai (CN); Alberto Speranzon, Plymouth, MN (US); Carl Dins, Phoenix, AZ (US); Juan Hu, Shanghai (CN); Zhiyong Dai, Shanghai (CN); and Vijay Venkataraman, Plymouth, MN (US)
Assigned to Honeywell International Inc., Charlotte, NC (US)
Filed by Honeywell International Inc., Charlotte, NC (US)
Filed on Dec. 22, 2021, as Appl. No. 17/645,591.
Prior Publication US 2023/0196597 A1, Jun. 22, 2023
Int. Cl. G06T 7/521 (2017.01); G06T 7/593 (2017.01); G06T 17/10 (2006.01)
CPC G06T 7/521 (2017.01) [G06T 7/593 (2017.01); G06T 17/10 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01)] 20 Claims
OG exemplary drawing
 
20. A non-transitory computer readable medium storing instructions that, when executed by a processor, perform a method comprising:
during movement of a housing through a environment, generating an image sequence using an image sensor, wherein the image sensor is mounted relative to the housing and directed in a first direction;
during movement of the housing through the environment, generating a set of distance values using a distance sensor, wherein the distance sensor is mounted relative to the housing and directed in a second direction, wherein the second direction is within a predetermined angular range of the first direction;
generating, based on the image sequence, a first 3D model of the environment;
generating, based on the first 3D model and the predetermined angular range, a plurality of revolved 3D models by revolving the first 3D model relative to the image sensor to a plurality of positions within the predetermined angular range;
matching the set of distance values to at least one of the revolved 3D models;
determining, based on the matched at least one of the revolved 3D models, an angular position of the second direction relative to the first direction; and
generating, based on the first 3D model, the set of distance values, and the angular position, a 3D reconstruction of the environment, the 3D reconstruction including information indicative of a scale of the environment.