Patent ID: 9525862
Filing Date: 2016-12-20
CPC Classification: G06T,H04N

Claim Text:
1. A method for estimating a camera motion and for determining a three-dimensional model of an environment, comprising the steps of: obtaining a set of reference two-dimensional imaged points captured by a camera at a first camera pose and reference depth samples associated to the set of reference two-dimensional imaged points; determining a three-dimensional model of the environment using the reference depth samples and intrinsic parameters of the camera; providing a set of current two-dimensional imaged points captured by the camera at a second camera pose and current depth samples associated to the set of current two-dimensional imaged points and determining a current three-dimensional model using the current depth samples and the intrinsic parameters; estimating a camera motion between the first camera pose and the second camera pose by means of an image registration method; determining based on the estimated camera motion a similarity measure between the three-dimensional model and the current three-dimensional model; in response to determining that the similarity measure meets a first condition, updating the three-dimensional model of the environment using at least one point of the current three-dimensional model; and in response to updating the three-dimensional model using at least one point of the current three-dimensional model, adding the set of current two-dimensional imaged points to the set of reference two-dimensional imaged points.