US 11,741,624 B2
Method and system for determining spatial coordinates of a 3D reconstruction of at least part of a real object at absolute spatial scale
Sebastian Knorr, Mountain View, CA (US); and Daniel Kurz, Sunnyvale, CA (US)
Assigned to Apple Inc., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Oct. 21, 2020, as Appl. No. 17/76,507.
Application 17/076,507 is a continuation of application No. 16/546,833, filed on Aug. 21, 2019, granted, now 10,846,871.
Application 16/546,833 is a continuation of application No. 15/525,310, granted, now 10,445,895, issued on Oct. 15, 2019, previously published as PCT/EP2014/075299, filed on Nov. 21, 2014.
Prior Publication US 2021/0110560 A1, Apr. 15, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/579 (2017.01); G06T 7/246 (2017.01); G06T 7/277 (2017.01)
CPC G06T 7/579 (2017.01) [G06T 7/251 (2017.01); G06T 7/277 (2017.01); G06T 2207/10016 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/10048 (2013.01); G06T 2207/20076 (2013.01); G06T 2207/20092 (2013.01); G06T 2207/30201 (2013.01); G06T 2207/30244 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of determining spatial coordinates of a 3D reconstruction of at least part of a first real object comprising:
obtaining, from a first camera system, a first image comprising at least part of a first real object;
obtaining, from a second camera system, a second image comprising at least part of a second real object associated with known geometric properties, wherein the first camera system and the second camera system have a known spatial relationship;
determining a scale of at least part of the second real object based on the second image and the known geometric properties of the at least part of the second real object; and
determining, based on the known spatial relationship and the scale of the at least part of the second real object, one or more coordinates of a geometrical model of the first real object at absolute scale.