User feedback for real-time checking and improving quality of scanned image

A portable electronic device, comprising:

• computer memory;
• a camera configured to capture a stream of image frames;
• and
• a processor, in communication with the camera, configured to form a composite image of an object based on the stream of image frames by:
• extracting one or more image features from image frames of the stream of image frames;
• associating sets of points with the one or more image features;
• determining correspondences between sets of points associated with the one or more image features from multiple image frames of the stream of image frames;
• sequentially incorporating image frames of the stream of image frames into a three dimensional point cloud based on the determined correspondences;
• and
• reconstructing surfaces based on the three dimensional point cloud so as to provide in the computer memory a three dimensional representation of the object.

At least one non-transitory, computer-readable storage medium having stored instructions for forming a composite image of an object from a stream of image frames captured by a camera of a portable electronic device, the instructions, when executed by an at least one processor, cause the processor to perform a method comprising steps of:

• extracting one or more image features from image frames of the stream of image frames;
• associating sets of points with the one or more image features;
• determining correspondences between sets of points associated with the one or more image features from multiple image frames of the stream of image frames;
• sequentially incorporating image frames of the stream of image frames into a three dimensional point cloud based on the determined correspondences;
• and
• rendering the composite image of the object based on the three dimensional point cloud.