Patent Document ID: 9891321
Application ID: 14762174
Patent Flag: 1

Claim One:
1. Method for developing a 3D model of an environment, comprising the steps of: providing a plurality of overlapping images of the environment, each image being associated to navigation data; providing distance information, said distance information comprising a distance value and navigation data from a plurality of distance measurements; developing the 3D model based on the plurality of overlapping images and the distance information; wherein the step of developing the 3D model comprises the steps of providing the 3D model based on the plurality of overlapping images; and updating the 3D model with the distance information using an iterative process, wherein the development of the 3D model further comprises comparing the 3D model with information from a distance measuring device, updating the 3D model in parts of the 3D model where there is a discrepancy between the 3D model and information from the distance measurements, based on the distance information, and verifying that the 3D model parts updated based on the distance information better describes the reality as presented in the images than the corresponding 3D model not updated with the distance information; wherein the step of developing the 3D model comprises the steps of: a) determining stereo distances from the overlapping images; b) providing the 3D model based on the stereo distances from a selection of the overlapping images; c) determining a difference between the 3D model and the distance information; d) updating the 3D model based on the difference between the 3D model and the distance information and based on a weight relation, e) evaluating the updated model against a provided model to determine which of the models is most accurate f) updating the selection of the overlapping images based on the evaluation, g) repeating step b) to f).