Method and device for inpainting of colourised three-dimensional point clouds
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United States of America Patent
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Jan 31, 2023
Grant Date -
Jul 26, 2018
app pub date -
Jan 24, 2018
filing date -
Jan 24, 2017
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Abstract
A method for colourising a three-dimensional point cloud including surveying a point cloud with a surveying instrument. Each point of the point cloud may be characterised by coordinates within an instrument coordinate system having an instrument center. The method may include capturing a first image of the setting with a first camera. Each pixel value of the first image is assigned coordinates within a first camera coordinate system having a first projection center as origin and a first parallax shift relative to the instrument center. The method may include transforming the point cloud from the instrument coordinate system into the first camera coordinate system, resulting in a first transformed point cloud, detecting one or more uncovered points within the first transformed point cloud which are openly visible from the first projection center, and for each uncovered point, assigning a pixel value having corresponding coordinates in the first camera coordinate system.
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