Method for creating a 3D representation and corresponding image recording apparatus

An image recording apparatus, comprising an image sensor designed for recording a sequence of individual images (2, 3), a computer configured to detect image features that applies a feature detection to the individual images (2, 3) and identifies image pixels as feature pixels (6, 7, 8, 9), a 3D calculator designed for calculating 3D points (11, 12) with respect to the feature pixels (6, 7, 8, 9) and camera poses (4) with respect to the individual images (2, 3), a fitting device designed for fitting at least one geometric primitive (14) for the 3D points (11, 12) of the feature pixels (6, 7, 8, 9), a plausibility device designed for at least one of checking or optimizing the at least one geometric primitive (14) until image pixels of different individual images (2, 3) that are assigned to common partial regions (23) of the at least one geometric primitive (14) on the basis of camera poses (4) have a minimized discrepancy, and the computer being further configured for (a) carrying out one or more steps selected from the group of:

• the feature detection step (5), the 3D calculation step (10), the fitting step (13), or the plausibility check (15), are respectively performed until an end criterion is fulfilled, (b) maintaining a functional dependence of parameters on a master parameter, and the master parameter is altered with respect to a renewed performance of one step or a plurality of steps from the group including the feature detection step (5), the 3D calculation step (10), the fitting step (13), or the plausibility check (15), (c) providing an external user input for selecting the master parameter as an external input to adjust a level of accuracy of the 3D representation, and (d) outputting the at least one geometric primitive (14) with the minimized discrepancy.