Patent Document ID: 10163256
Application ID: 14892139
Patent Flag: 1

Claim One:
1. A method for generating a three-dimensional model, comprising: generating a time series of scene point sets corresponding to a scene comprising an object shape; dividing each scene point set of the time series of scene point sets into: a foreground point set corresponding to a foreground of the scene and comprising an object shape subset of points corresponding to the object shape, and a background point set corresponding to a background of the scene; separating a time series of the respective object shape subsets from the time series of foreground point sets; generating a background three-dimensional model on the basis of one or more of the background point sets; generating, from optical recordings, a dynamic three-dimensional model of a substituting object shape assignable to the object shape; generating a combined three-dimensional model on the basis of the background three-dimensional model and the dynamic three-dimensional model substituting each member of the time series of object shape subsets; classifying one or more points of the scene point sets on the basis of height values of the points into one of a ground category, a tall object category, a short object category, and a rare regions category; and removing the points classified in the rare regions category from the scene point sets, wherein the dynamic three-dimensional model is multiplied to a length corresponding to a movement of the object shape along a trajectory of the object shape, and each scene point set is divided into the foreground point set and the background point set by assigning the points classified in the ground category and the tall object category to the background point set, and by assigning the points classified in the short object category to the foreground point set.