Methods, devices and computer program products for 3D mapping and pose estimation of 3D images

An imaging system for processing images, the imaging system comprising:

• a processor;
• and
• a memory coupled to the processor and storing computer readable program code that when executed by the processor causes the processor to perform operations comprising:
• non-recursively performing an initialization of a Three-Dimensional, 3D, map and respective poses of a plurality of poses based on a plurality of first Two-Dimensional, 2D, images of a series of 2D images;
• and
• recursively performing sequential updating of the 3D map based on recursively updating the 3D map for respective ones of a plurality of second 2D images of the series of 2D images;
• non-recursively determining respective poses of the plurality of poses for respective ones of the plurality of second 2D images of the series of 2D images, wherein the series of 2D images comprises a first scan;
• and
• calibrating intrinsic parameters associated with a camera used to capture the plurality of first 2D images of the series of 2D images based on the plurality of first 2D images and a baseline of intrinsic parameters associated with a previous estimation that occurred before the first scan.

A method for estimation of a Three-Dimensional, 3D, map and a plurality of poses for a series of Two-Dimensional, 2D, images, wherein the series of 2D images comprises a first scan, the method comprising:

• non-recursively performing an initialization of the 3D map and the respective poses of the plurality of poses based on a plurality of first 2D images of the series of 2D images;
• recursively performing sequential updating of the 3D map based on recursively updating the 3D map for respective ones of a plurality of second 2D images of the series of 2D images;
• and
• recursively calibrating intrinsic parameters associated with a camera used to capture the plurality of second 2D images based on recursively estimating intrinsic parameters based on both the plurality of first 2D images and the plurality of second 2D images that are in the first scan.