Patent Document ID: 20150304576
Application ID: 14646725
Patent Status: 0

Claim One:
1. A method of mosaicing of a scene as a 3D mosaic, without the aid of any external 3D model, wherein at least one dense 3D reconstruction is obtained comprising the following steps of: acquisition of successive images by a panoramic sensor moving along an unconstrained 3D reconstruction trajectory, such that the image of at least one point of the scene is in at least 3 successive 2D panoramic images obtained according to various directions from panoramic system to point of the scene covering the whole of the panoramic field, rectification of these images on several rectification planes covering the whole of the field of the panoramic sensor, matching of the rectified images, 3D reconstruction on several reconstruction planes on the basis of these matched images, further comprising the following steps: A) acquiring successive images by means of a panoramic sensor moving in displacement along the same unconstrained 3D reconstruction trajectory, the last image acquired being referred to as the current panoramic image, B) choosing several projection surfaces overlapping various elements of the scene and on which the mosaic will be constructed, C) the current panoramic image being sliced up into sectors exhibiting a pixellic resolution and textures, selecting the sectors whose projection on the scene is the closest in the geometric sense to the projection surfaces and whose pixellic resolution is greater than a certain threshold, either on the basis of the rectification planes close in the geometric sense to the projection surfaces, if they exist, or on the basis of the panoramic image itself, aided by the 3D reconstruction and the direct projection between the projection surface and the panoramic image, D) from among the textures of the selected sectors and which are associated with the projection surfaces, selecting the visible parts, that is to say which are not hidden by another surface of the scene, in each projection surface with the aid of the 3D reconstruction, E) projecting these selected textures onto each projection surface and fusing the textures selected in each projection surface so as to thus obtain a conformal mosaic on each projection surface.