Patent ID: 9613420
Date: 2017-04-04
CPC Classifications: G06T

Claim:
1. A method for locating a camera and for a 3D reconstruction of a static environment in which the camera is moving and of which the camera forms images, the static environment comprising an object of interest of which a 3D model is known and in which the static environment outside of the object is unknown, the method comprising the following steps: calculating an initial pose of the camera in the static environment and of an initial reconstruction; calculating a pose of the camera for each new image by matching 3D primitives of the static environment with 2D primitives of the new image and reconstructing 3D primitives of the static environment by triangulation; and simultaneously optimizing the pose of the camera for each new image and of the 3D primitives by minimizing a reprojection error over a plurality of images, wherein the 3D model is a geometric description of the object of interest, the reprojection error comprises only two types of terms, a first type of the two types of terms linked to first primitives constrained by the 3D model and a second type of the two types of terms linked to second primitives of the static environment other than the object, and simultaneously optimizing comprises associating primitives with the static environment or with the 3D model, and wherein simultaneously optimizing is performed with a robust estimator exhibiting a rejection threshold, by adaptively controlling an influence of the two types of terms as a function of the rejection threshold.