Patent Document ID: 20070250465
Application ID: 11570130
Patent Status: 0

Claim One:
1. A method of automatically modeling a physical scene including a number of objects, the method comprising: receiving at least two images (I 1 , I 2 ) of the scene of which images a first image (I 1 ) is registered at a first position and a first angle with respect to the scene and a second image (I 2 ) is registered at a second position and a second angle with respect to the scene, where at least one of the second position and the second angle is different from the first position and the first angle, matching at least one image object in the first image (I 1 ) against at least one image object in the second image (I 2 ) to obtain a matching result (M 12 ), calculating, based on the matching result (M 12 ), a fundamental matrix (F 12 ) defining a relationship between the first image (I 1 ) and the second image (I 2 ), and calculating, based on the fundamental matrix (F 12 ), a depth map (D 12 ) describing distance differences between a set of image points in the first image (I 1 ) and a corresponding set of image points in the second image (I 2 ), characterized by the matching step comprising loading pixel values for a first image portion of the first image (I 1 ) into an artificial neural network ( 133 ), scanning, by means of the artificial neural network ( 133 ), the second image (I 2 ) in search of pixels representing a second image portion corresponding to the first image portion, and determining a position of the second image portion upon fulfillment of a match criterion in the artificial neural network ( 133 ) in respect of the first and second image portions.