Three-dimensional modeling using hemispherical or spherical visible light-depth images

A non-transitory computer-readable storage medium, comprising executable instructions that, when executed by a processor, facilitate performance of operations, comprising:

• obtaining a hemispherical or spherical visible light-depth image capturing an operational environment of a user device, wherein obtaining the hemispherical or spherical visible light-depth image includes:
• obtaining a hemispherical or spherical visual light image;
• and
• obtaining a hemispherical or spherical non-visual light depth image;
• generating a perspective converted hemispherical or spherical visible light-depth image, wherein generating the perspective converted hemispherical or spherical visible light-depth image includes:
• generating a perspective converted hemispherical or spherical visual light image;
• and
• generating a perspective converted hemispherical or spherical non-visual light depth image;
• generating a three-dimensional model of the operational environment based on the perspective converted hemispherical or spherical visible light-depth image;
• and
• outputting the three-dimensional model.

An apparatus for use in depth detection, the apparatus comprising:

• a hemispherical or spherical non-visible light projector;
• a hemispherical or spherical non-visible light sensor;
• a hemispherical or spherical visible light sensor;
• a non-transitory computer readable medium;
• and
• a processor configured to execute instructions stored on the non-transitory computer readable medium to:
• obtain a hemispherical or spherical visible light-depth image capturing an operational environment of the apparatus, wherein obtaining the hemispherical or spherical visible light-depth image includes:
• controlling the hemispherical or spherical visible light sensor to obtain a hemispherical or spherical visual light image;
• controlling the hemispherical or spherical non-visible light projector to project a hemispherical or spherical non-visible light static structured light pattern;
• in response to controlling the hemispherical or spherical non-visible light projector to project the hemispherical or spherical non-visible light static structured light pattern, controlling the hemispherical or spherical non-visible light sensor to obtain a hemispherical or spherical non-visual light depth image;
• generate a perspective converted hemispherical or spherical visible light-depth image by:
• generating a perspective converted hemispherical or spherical visual light image;
• and
• generating a perspective converted hemispherical or spherical non-visual light depth image;
• generate a three-dimensional model of the operational environment based on the perspective converted hemispherical or spherical visible light-depth image;
• and
• output the three-dimensional model.