US 12,236,521 B1
Techniques for determining a three-dimensional textured representation of a surface of an object from a set of images with varying formats
Henry Harlyn Baker, Los Altos, CA (US)
Filed by Henry Harlyn Baker, Los Altos, CA (US)
Filed on Oct. 5, 2021, as Appl. No. 17/494,742.
Application 16/538,029 is a division of application No. 15/802,777, filed on Nov. 3, 2017, granted, now 10,430,994, issued on Oct. 1, 2019.
Application 17/494,742 is a continuation of application No. 16/538,029, filed on Aug. 12, 2019, granted, now 11,170,561.
Claims priority of provisional application 62/418,718, filed on Nov. 7, 2016.
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 15/20 (2011.01); G06T 7/13 (2017.01); G06T 7/55 (2017.01)
CPC G06T 15/205 (2013.01) [G06T 7/13 (2017.01); G06T 7/55 (2017.01); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of computing a depth estimate of a point on an object, comprising:
receiving a first plurality of images of the object from a first source;
receiving a second plurality of images of the object from a second source; and
with at least one processor,
creating a first epipolar plane image based on the first plurality of images,
creating a second epipolar plane image based on the second plurality of images, and
computing the depth estimate based on the first epipolar plane image and the second epipolar plane image;
wherein computing the depth estimate further comprises selecting a first edge from the first epipolar plane image, corresponding to the point on the object, selecting a second edge from the second epipolar plane image, corresponding to the first edge, and computing the depth estimate based on the first edge and the second edge;
wherein the method further comprises, with the at least one processor:
identifying a first contour, in a first reference image, the first contour comprising a first plurality of contour edges;
identifying a second contour, in a second reference image, the second contour comprising a second plurality of contour edges;
mapping the first edge to at least one contour edge of the first plurality of contour edges; and
mapping the second edge to at least one contour edge of the second plurality of contour edges; and
wherein the computing of the depth estimate is based on the first contour and the second contour.