Patent Document ID: 9998660
Application ID: 14646725
Patent Status: 1

Claim One:
1. A method of mosaicing a scene as a 3D mosaic without aid of any external 3D model, the method comprising: obtaining at least one dense 3D reconstruction by: acquiring images with 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 images obtained in a plurality of directions of the panoramic sensor; rectifying the images on a plurality of rectification planes covering a field of the panoramic sensor and matching the rectified images; and 3D reconstructing the images on a plurality of reconstruction planes based on the matched images; acquiring successive images by means of the panoramic sensor moving along the unconstrained 3D reconstruction trajectory, a last of the images being a current panoramic image; choosing a plurality of projection surfaces overlapping various elements of the scenes; slicing the current panoramic image into sectors exhibiting a pixellic resolution and textures; selecting the sectors whose projection on the scene is the closest geometrically to the projection surfaces and whose pixellic resolution is greater than a threshold, either on the basis of the rectification planes being close geometrically to the projection surfaces, or on the basis of the current panoramic image, aided by the at least one 3D reconstruction and a direct projection between the projection surface and the current panoramic image; selecting visible parts from among the textures of the selected sectors and which are associated with the projection surfaces in each projection surface with the aid of the at least 3D reconstruction, wherein the visible parts are not hidden by another surface of the scene; and projecting the selected visible parts onto each projection surface and fusing the selected visible parts into each projection surface to obtain a conformal mosaic on each projection surface.