US 11,836,854 B2
Structure from Motion for drone videos
Raghuraman Gopalan, Dublin, CA (US)
Assigned to HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA CORPORATION, Seoul (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA CORPORATION, Seocho-gu (KR)
Filed on Jun. 27, 2022, as Appl. No. 17/850,681.
Application 17/850,681 is a continuation of application No. 16/929,394, filed on Jul. 15, 2020, granted, now 11,403,844.
Application 16/929,394 is a continuation of application No. 16/238,349, filed on Jan. 2, 2019, granted, now 10,747,998, issued on Aug. 18, 2020.
Application 16/238,349 is a continuation of application No. 15/455,745, filed on Mar. 10, 2017, granted, now 10,192,111, issued on Jan. 29, 2019.
Prior Publication US 2022/0327821 A1, Oct. 13, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 17/00 (2006.01); G06T 7/579 (2017.01); G06V 20/13 (2022.01); G06V 20/64 (2022.01); G06V 20/17 (2022.01); G06T 17/05 (2011.01)
CPC G06T 17/00 (2013.01) [G06T 7/579 (2017.01); G06T 17/05 (2013.01); G06V 20/13 (2022.01); G06V 20/17 (2022.01); G06V 20/647 (2022.01); G06T 2207/10032 (2013.01); G06T 2207/20081 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A device comprising:
a processing system including a processor; and
a memory that stores executable instructions that, when executed by the processing system, facilitate performance of operations comprising:
obtaining data representing a plurality of two-dimensional (2D) images of an object, the images captured at a plurality of operating altitudes in an operating altitude range;
constructing a three-dimensional (3D) model of the object in accordance with the data, wherein the constructing comprises a transfer learning procedure using a first plurality of observations of the object obtained at a first altitude range lower than the operating altitude range and a second plurality of observations of the object obtained at a second altitude range higher than the operating altitude range, wherein the 3D model is based on parameters comprising structure-from-motion (SfM) model parameters for the operating altitude range; and
adjusting the 3D model in accordance with updated data representing a new image captured at a new operating altitude.