Point cloud noise and outlier removal for image-based 3D reconstruction

A system for reconstructing a three-dimensional (3D) model of an object, the system comprising one or more of a processor configured to execute machine-readable instructions such that when the machine-readable instructions are executed by the processor, the processor is caused to perform:

• receiving images of the object, the images capturing the object from different viewpoints;
• obtaining a depth map for each of the images, the depth map including information relating to a surface of the object in a 3D space;
• projecting each pixel point in each depth map into the 3D space to obtain a point set;
• for each point in the point set, determining whether the point is consistent with the surface of the object in the 3D space as indicated by a set of depth maps for the images, wherein the consistency determination includes:
• for each depth map in the set:
• performing an intersection of a ray with the surface of the object indicated by the depth map to find an intersection point;
• and
• in response to the intersection point being found, determining a distance between the point and intersection point as a distance between the point and the surface of the object as seen from a camera viewpoint corresponding to the depth map;
• determining whether the point is consistent with the surface of the object based on one or more of the determined distances between the point and the surface of the object;
• and
• determining whether to discard the point from point set based on the determination whether the point is consistent with the surface of the object;
• and
• reconstructing the 3D model using the point set.