The University of North Carolina at Chapel Hill;Swiss Federal Institute Of Technology Zurich
发明人:
FRAHM, Jan-Michael,POLLEFEYS, Marc,GALLUP, David
申请号：
EP20110790124
公开号：
EP2534835(A4)
申请日:
2011.02.11
申请国别(地区):
欧洲专利局
年份:
2017
代理人:
摘要：
Methods of generating a three dimensional representation of an object in a reference plane from a depth map including distances from a reference point to pixels in an image of the object taken from a reference point. Weights are assigned to respective voxels in a three dimensional grid along rays extending from the reference point through the pixels in the image based on the distances in the depth map from the reference point to the respective pixels, and a height map including an array of height values in the reference plane is formed based on the assigned weights. An n-layer height map may be constructed by generating a probabilistic occupancy grid for the voxels and forming an n-dimensional height map comprising an array of layer height values in the reference plane based on the probabilistic occupancy grid.
