US 11,915,368 B2
Systems and methods for modeling structures using point clouds derived from stereoscopic image pairs
Joseph L. Mundy, Barrington, RI (US); Bryce Zachary Porter, Lehi, UT (US); Ryan Mark Justus, Lehi, UT (US); and Francisco Rivas, Madrid (ES)
Assigned to Insurance Services Office, Inc., Jersey City, NJ (US)
Filed by Insurance Services Office, Inc., Jersey City, NJ (US)
Filed on Aug. 16, 2021, as Appl. No. 17/403,792.
Application 17/403,792 is a continuation of application No. 16/703,644, filed on Dec. 4, 2019, granted, now 11,094,113.
Prior Publication US 2021/0407188 A1, Dec. 30, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 17/05 (2011.01); G06F 16/587 (2019.01); G06T 7/593 (2017.01); G06T 15/04 (2011.01); G06T 15/06 (2011.01); G06T 17/20 (2006.01)
CPC G06T 17/05 (2013.01) [G06F 16/587 (2019.01); G06T 7/593 (2017.01); G06T 15/04 (2013.01); G06T 15/06 (2013.01); G06T 17/20 (2013.01); G06T 2200/24 (2013.01); G06T 2207/10012 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20221 (2013.01); G06T 2210/21 (2013.01); G06T 2210/56 (2013.01)] 31 Claims
OG exemplary drawing
 
1. A system for modeling a structure, comprising:
an aerial imagery database; and
a processor in communication with the aerial imagery database, the processor:
retrieving at least one stereoscopic image pair from the aerial imagery database;
identifying a target image from the at least one stereoscopic image pair;
identifying a reference image from the at least one stereoscopic image pair;
rectifying the target image and the reference image so that principal camera rays of the target image and the reference image are parallel and originate on the same plane;
calculating an optimized disparity value for each pixel of the identified target image by applying a semi-global matching algorithm to minimize a cost measure at corresponding pixel locations between the target image and the reference image;
generating a disparity map based on the optimized disparity values for each pixel of the identified target image;
generating a three dimensional point cloud based on the disparity map; and
generating a three dimensional model of the structure using the three-dimensional point cloud.