US 11,682,170 B2
Generating three-dimensional geo-registered maps from image data
Tom Haramaty, Tel Aviv (IL); Alon Salhov, Tel Aviv (IL); Sid Sampangi, Millbrae, CA (US); and Ethan Van Andel, Berkeley, CA (US)
Assigned to PTAS I LLC, Wilmington, DE (US)
Filed by PTAS I LLC, Wilmington, DE (US)
Filed on Oct. 12, 2021, as Appl. No. 17/499,780.
Application 17/499,780 is a continuation of application No. 16/124,962, filed on Sep. 7, 2018, granted, now 11,182,954.
Prior Publication US 2022/0108522 A1, Apr. 7, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 17/05 (2011.01); G06T 15/08 (2011.01)
CPC G06T 17/05 (2013.01) [G06T 15/08 (2013.01); G06T 2215/16 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
obtaining a plurality of images;
generating a three-dimensional (3D) model from the plurality of images, the 3D model including separately tagged one or more estimated view locations to distinguish the one or more estimated view locations from model points of the 3D model;
registering the 3D model to a geographic coordinate system as a first registered 3D model using the one or more estimated view locations; and
merging the first registered 3D model with a second registered 3D model to generate a merged 3D model, wherein the merging the first registered 3D model includes:
merging overlapping portions of the first registered 3D model with overlapping portions of the second registered 3D model; and
stitching together non-overlapping portions of the first registered 3D model with non-overlapping portions of the second registered 3D model.