US 11,943,539 B2
Systems and methods for capturing and generating panoramic three-dimensional models and images
David Alan Gausebeck, Sunnyvale, CA (US); Kirk Stromberg, Sunnyvale, CA (US); Louis D. Marzano, Sunnyvale, CA (US); David Proctor, Sunnyvale, CA (US); Naoto Sakakibara, Sunnyvale, CA (US); Simeon Trieu, Sunnyvale, CA (US); Kevin Kane, Sunnyvale, CA (US); and Simon Wynn, Sunnyvale, CA (US)
Assigned to Matterport, Inc., Sunnyvale, CA (US)
Filed by Matterport, Inc., Sunnyvale, CA (US)
Filed on May 13, 2022, as Appl. No. 17/744,539.
Application 17/744,539 is a continuation in part of application No. 17/137,958, filed on Dec. 30, 2020.
Claims priority of provisional application 62/955,414, filed on Dec. 30, 2019.
Prior Publication US 2022/0321780 A1, Oct. 6, 2022
Int. Cl. H04N 5/265 (2006.01); H04N 5/222 (2006.01); H04N 23/698 (2023.01); H04N 23/90 (2023.01)
CPC H04N 23/698 (2023.01) [H04N 5/2226 (2013.01); H04N 5/265 (2013.01); H04N 23/90 (2023.01)] 22 Claims
OG exemplary drawing
 
1. A method for an apparatus to gather images and depth information in a 360-degree scene, wherein the apparatus comprises a frame, a drive train mounted to the frame, a depth information capture device coupled to the drive train, and an image capture device coupled to the drive train, the method comprising:
capturing, by the image capture device while pointed in a first direction, a plurality of images at different exposures in a first field of view (FOV) of the 360-degree scene, the image capture device including a lens situated at a no-parallax point substantially at a center of a first axis;
rotating, by the drive train, the depth information capture device and the image capture device about the first, substantially vertical, axis from the first direction to a second direction;
capturing, by the depth information capture device while being rotated from the first direction to the second direction, depth information for a first portion of the 360-degree scene;
capturing, by the image capture device while pointed in the second direction, a plurality of images at different exposures in a second FOV that overlaps the first FOV of the 360-degree scene;
rotating, by the drive train, the depth information capture device and the image capture device about the first axis from the second direction to a third direction, and capturing, by the depth information capture device while being rotated from the second direction to the third direction, depth information for a second portion of the 360-degree scene;
capturing, by the image capture device while pointed in the third direction, a plurality of images at different exposures in a third FOV that overlaps the second FOV of the 360-degree scene; and
associate depth information for the first, second, and third of the 360-degree scene with numerical coordinates that identify a location of the depth information generated therefrom, the association being based on a distance between the no-parallax point and the depth information capture device.