Patent ID: 9460513
Filing Date: 2016-10-04
CPC Classification: G06K,G06T

Claim Text:
1. A method for reconstructing a three-dimensional (3D) scene as a three-dimensional (3D) model, comprising steps: acquiring, of the scene, red, green, blue, and depth (RGBD) images with a sensor, and wide field-of-view (FOV) red, green, and blue (RGB) images with a camera from different viewpoints; identifying pair-wise point matches among the RGBD images and the RGB images; constructing a graph of nodes and edges using the pair-wise point matches, wherein the nodes represent the RGBD images and the RGB images, and the edges represent pose constraints between the RGBD images and the RGB images; estimating initial poses of the RGBD images and the RGB images using the pose constraints; estimating an initial 3D model of the scene using the estimated poses; removing erroneous edges in the graph; applying bundle adjustment to the initial poses and the initial 3D model to obtain refined poses and the 3D model of the scene, wherein the steps are performed in a processor.