US 10,891,805 B2
3D model establishing device and calibration method applying to the same
Chun-Tse Hsiao, Taipei (TW); Chuan-Chi Wang, Hsinchu (TW); and Chia-Chen Chen, Hsinchu (TW)
Assigned to INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE, Hsinchu (TW)
Filed by INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE, Hsinchu (TW)
Filed on Apr. 25, 2019, as Appl. No. 16/394,650.
Claims priority of provisional application 62/662,781, filed on Apr. 26, 2018.
Claims priority of application No. 107141879 A (TW), filed on Nov. 23, 2018.
Prior Publication US 2019/0333286 A1, Oct. 31, 2019
Int. Cl. G06T 19/20 (2011.01); G06T 7/80 (2017.01); G06T 19/00 (2011.01)
CPC G06T 19/20 (2013.01) [G06T 7/80 (2017.01); G06T 19/006 (2013.01); G06T 2200/04 (2013.01); G06T 2200/08 (2013.01); G06T 2207/30244 (2013.01); G06T 2219/2016 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A 3D model construction device, comprising:
a camera configured to obtain a plurality of first frames, a second frame and a depth information; and
a wearable display coupled to the camera, wherein the wearable display comprises:
a display unit;
a processing unit;
a storage unit coupled to the processing unit and configured to store a first module and a second module, wherein when the first module is performed by the processing unit, the processing unit calculates a first pose of the wearable display; when the second module is performed by the processing unit, the processing unit calculates a 3D model according to the first frames, the depth information, the first pose and a plurality of calibration parameters, and updates the 3D model according to the second frame; and
a projection unit coupled to the processing unit and configured to project the 3D model and the second frame onto the display unit according to the first pose for being displayed with a real image on the display unit,
wherein the calibration parameters are a basis for transforming between a coordinate system of the camera and a coordinate system of the wearable display,
wherein the calibration parameters comprise a rotation parameter generated according to the following steps:
enabling the 3D model construction device to move along a plurality of directional straight lines and respectively obtain a plurality of first moving velocity vectors of the wearable display with respect to each direction and a plurality of second moving velocity vectors of the camera with respect to each direction; and
calculating the rotation parameter according to the first moving velocity vectors and the second moving velocity vectors.