3d spherical image system

Abstract

Systems for producing 3D spherical imagery for a virtual walkthrough corresponding with a real environment are presented, the systems including: a rightward facing camera for capturing real-time rightward facing images, the rightward facing camera electronically coupled with a computing system; a leftward facing camera for capturing real-time leftward facing image data; a backward facing camera for capturing real-time backward facing image data; a frontward facing camera for capturing real-time frontward facing image data; an upward facing camera for capturing real-time upward facing image data; a number of laser scanners; and an inertial movement unit (IMU), where data from the number of laser scanners and the IMU captures 3D geometry information of the real environment and is rendered to provide a 3D virtual model of the real environment, and where image data from the cameras is rendered to provide image texture blending of the 3D virtual model.

What is claimed is: 
     
         1 . A system for producing 3D spherical imagery for a virtual walkthrough corresponding with a real environment, the system comprising:
 a rightward facing camera for capturing real-time rightward facing images, the rightward facing camera electronically coupled with a computing system;   a leftward facing camera for capturing real-time leftward facing image data;   a backward facing camera for capturing real-time backward facing image data;   a frontward facing camera for capturing real-time frontward facing image data;   an upward facing camera for capturing real-time upward facing image data;   a plurality of laser scanners; and   an inertial movement unit (IMU), wherein   data from the plurality of laser scanners and the IMU captures 3D geometry information of the real environment and is rendered to provide a 3D virtual model of the real environment, and wherein   image data from the cameras is rendered to provide image texture blending of the 3D virtual model.   
     
     
         2 . The system of  claim 1 , wherein the plurality of laser scanners comprises:
 a first laser scanner for scanning a horizontal plane;   a second laser scanner for scanning a first vertical plane normal to a direction of motion;   a third laser scanner for scanning a second vertical plane normal to the direction of motion; and   a fourth laser scanner for scanning a third vertical plane tangent to the direction of motion.   
     
     
         3 . The system of  claim 1 , wherein
 the cameras and the plurality of laser scanners are each positioned with an unobstructed field of view.   
     
     
         4 . The system of  claim 1 , wherein a data collection source selected from the group consisting of:
 a spectrometer for capturing light source data,   a barometer for capturing atmospheric pressure data,   a magnetometer for capturing magnetic field data,   a thermometer for capturing temperature data,   a wireless local area network (WLAN) packet capture device for capturing WLAN data,   a CO 2  meter for capturing carbon dioxide data, and   a lux meter for measuring luminance data.   
     
     
         5 . The system of  claim 1 , further comprising an assembly selected from the group consisting of: a backpack assembly for carrying the system by an operator, a motorized assembly for carrying the system by an autonomous robotic device, a motorized assembly for carrying the system by a semi-autonomous robotic device, and a motorized assembly for carrying the system by an operator guided robotic device. 
     
     
         6 . The system of  claim 5 , wherein
 the frontward facing camera of the backpack assembly is positioned at approximately a height of an operator's head and extends beyond the operator's head, wherein   the upward facing camera of the backpack assembly is positioned at approximately the height of an operator's head and extends above the operator's head, wherein   the rightward facing camera of the backpack assembly is positioned at approximately a height of an operator's right shoulder and extends beyond the operator's right shoulder, and wherein   the leftward facing camera of the backpack assembly is positioned at approximately a height of the operator's left shoulder and extends beyond the operator's left shoulder, wherein the cameras are positioned immediately proximate to the operator to minimize an appearance of an operator in the 3D virtual model and to maximize the real environment being captured.   
     
     
         7 . The system of  claim 1 , wherein the cameras capture image data at a frame rate of approximately one frame every 4 seconds to 30. 
     
     
         8 . The system of  claim 1 , wherein the cameras are positioned to have an overlapping field of view (FOV). 
     
     
         9 . The system of  claim 8 , wherein the cameras have a field of view (FOV) of approximately 90 to 360°. 
     
     
         10 . The system of  claim 1 , wherein image data from the cameras is stitched together to provide a seamless image texture. 
     
     
         11 . The system of  claim 10 , wherein the seamless image texture results in a seamless four pi steradian spherical image texture. 
     
     
         12 . The system of  claim 10 , wherein the seamless image texture results in a seamless cubic image texture. 
     
     
         13 . The system of  claim 1 , wherein the IMU samples at a rate in a range of approximately 150 to 300 Hz. 
     
     
         14 . The system of  claim 1 , wherein the plurality of laser scanners sample at a rate in a range of approximately 5 to 60 Hz. 
     
     
         15 . A backpack assembly for carrying a system by an operator for producing 3D spherical imagery for a virtual walkthrough corresponding with a real environment, the backpack assembly comprising:
 a rightward facing camera for capturing real-time rightward facing images, the rightward facing camera electronically coupled with a computing system, wherein the rightward facing camera of the backpack assembly is positioned at approximately a height of an operator's right shoulder and extends beyond the operator's right shoulder;   a leftward facing camera for capturing real-time leftward facing image data, wherein the leftward facing camera of the backpack assembly is positioned at approximately a height of the operator's left shoulder and extends beyond the operator's left shoulder;   a backward facing camera for capturing real-time backward facing image data;   a frontward facing camera for capturing real-time frontward facing image data, wherein the frontward facing camera of the backpack assembly is positioned at approximately a height of an operator's head and extends beyond the operator's head;   an upward facing camera for capturing real-time upward facing image data, wherein the upward facing camera of the backpack assembly is positioned at approximately the height of an operator's head and extends above the operator's head, and wherein the cameras are positioned immediately proximate to the operator to minimize an appearance of an operator in the 3D virtual model and to maximize the real environment being captured;   a plurality of laser scanners; and   an inertial movement unit (IMU), wherein   data from the plurality of laser scanners and the IMU captures 3D geometry information of the real environment and is rendered to provide a 3D virtual model of the real environment, and wherein   image data from the cameras is rendered to provide image texture blending of the 3D virtual model.   
     
     
         16 . The backpack assembly of  claim 15 , wherein the plurality of laser scanners comprises:
 a first laser scanner for scanning a horizontal plane;   a second laser scanner for scanning a first vertical plane normal to a direction of motion;   a third laser scanner for scanning a second vertical plane normal to the direction of motion; and   a fourth laser scanner for scanning a third vertical plane tangent to the direction of motion.   
     
     
         17 . The backpack assembly of  claim 15 , wherein
 the cameras and the plurality of laser scanners are each positioned with an unobstructed field of view (FOV).   
     
     
         18 . The backpack assembly of  claim 15 , wherein the cameras are positioned to have an overlapping FOV. 
     
     
         19 . The backpack assembly of  claim 15 , wherein image data from the cameras is stitched together to provide a seamless image texture. 
     
     
         20 . The backpack assembly of  claim 19 , wherein the seamless image texture results in a seamless four pi steradian spherical image texture.