US 11,810,316 B2
3D reconstruction using wide-angle imaging devices
Patrick Fox-Roberts, Witham (GB); Richard McCormack, Princes Risborough (GB); Qi Pan, London (GB); and Edward James Rosten, London (GB)
Assigned to Snap Inc., Santa Monica, CA (US)
Filed by Snap Inc., Santa Monica, CA (US)
Filed on Apr. 6, 2022, as Appl. No. 17/714,720.
Application 17/714,720 is a continuation of application No. 16/897,749, filed on Jun. 10, 2020, granted, now 11,335,022.
Prior Publication US 2022/0230351 A1, Jul. 21, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/70 (2017.01); G06T 3/00 (2006.01); G06T 5/00 (2006.01)
CPC G06T 7/70 (2017.01) [G06T 3/0093 (2013.01); G06T 5/006 (2013.01); G06T 2207/20216 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of determining a pose of a first wide-angle image using one or more processors, comprising:
dewarping regions of the first wide-angle image;
dewarping regions of a second wide-angle image;
detecting image features in the dewarped regions of the first wide-angle image and in the dewarped regions of the second wide-angle image;
identifying pairs of matching image features between dewarped regions of the first wide-angle image and dewarped regions of the second wide-angle image;
determining relative poses between dewarped regions of the first wide-angle image and dewarped regions of the second wide-angle image having pairs of matching image features;
triangulating pairs of matching image features to generate 3D point locations of the matching image features;
determining estimated poses of the dewarped regions of the first wide-angle image from the 3D point locations of the matching image features; and
deriving a pose of the first wide-angle image from the estimated poses of the dewarped regions of the first wide-angle image.