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US 11,908,070 B2Granted
Dynamic three-dimensional imaging method
OwnerOlivier Querbes, Véronique Querbes-Duretinventors
Life of this patent
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Abstract
Disclosed is a dynamic three-dimensional imaging method that allows the generation of a three-dimensional numerical model that represents an observed three-dimensional scene. The generated model optimally combines (404) data from two intermediate three-dimensional numerical models, respectively obtained by a stereoscopic three-dimensional reconstruction calculation method (402) and by a method of three-dimensional reconstruction calculation through learning (403). In addition, each new model that is generated helps to improve the overall performance of the method of three-dimensional reconstruction calculation by learning.
Claims13
A dynamic three-dimensional imaging method comprising the following steps, executed by a calculating unit:
- receiving at least two two-dimensional digital images representing an observed three-dimensional scene, acquired by at least one determined image sensor from at least two respective positions in space;
- generating, from the two-dimensional digital images, based on a stereoscopic three-dimensional reconstruction calculation method, a first intermediate three-dimensional numerical model associated with the observed three-dimensional scene;
- generating, from the two-dimensional digital images, based on a method of three-dimensional reconstruction calculation by learning, a second intermediate three-dimensional numerical model associated with the observed three-dimensional scene;
- generating, by combination of the first and second intermediate three-dimensional numerical models, a final three-dimensional numerical model, with said generation comprising selecting, for a determined portion of the final three-dimensional numerical model, a corresponding portion of that of the first and second intermediate three-dimensional numerical models which maximizes a quality criterion of the representation of the observed three-dimensional scene based on a comparison of at least one characteristic parameter of said first and second intermediate three-dimensional numerical models for said corresponding portion which is representative of the quality of the representation of the observed three-dimensional scene;
- storing, in a memory, digital information comprising at least one received two-dimensional digital image, the final three-dimensional numerical model associated with said two-dimensional digital image, and a characteristic parameter of said final three-dimensional numerical model, representative of the quality of the representation of the three-dimensional scene observed;
- and,
- using stored digital information as learning data to train and retrain the calculating unit for the execution of the method of three-dimensional reconstruction calculation by learning.
4 more elements
A calculating unit, comprising hardware and software means for executing the steps of:
- receiving at least two two-dimensional digital images representing an observed three-dimensional scene, acquired by at least one determined image sensor from at least two respective positions in space;
- generating, from the two-dimensional digital images, based on a stereoscopic three-dimensional reconstruction calculation method, a first intermediate three-dimensional numerical model associated with the observed three-dimensional scene;
- generating, from the two-dimensional digital images, based on a method of three-dimensional reconstruction calculation by learning, a second intermediate three-dimensional numerical model associated with the observed three-dimensional scene;
- generating, by combination of the first and second intermediate three-dimensional numerical models, a final three-dimensional numerical model, with said generation comprising selecting, for a determined portion of the final three-dimensional numerical model, a corresponding portion of that of the first and second intermediate three-dimensional numerical models which maximizes a quality criterion of the representation of the observed three-dimensional scene based on a comparison of at least one characteristic parameter of said first and second intermediate three-dimensional numerical models for said corresponding portion which is representative of the quality of the representation of the observed three-dimensional scene;
- storing, in a memory, digital information comprising at least one received two-dimensional digital image, the final three-dimensional numerical model associated with said two-dimensional digital image, and a characteristic parameter of said final three-dimensional numerical model, representative of the quality of the representation of the three-dimensional scene observed;
- and,
- using stored digital information as learning data to train and retrain the calculating unit for the execution of the method of three-dimensional reconstruction calculation by learning.
4 more elements
A three-dimensional imaging device comprising at least one digital image sensor, a memory and a calculating unit comprising hardware and software means to perform:
- receiving at least two two-dimensional digital images representing an observed three-dimensional scene, acquired by at least one determined image sensor from at least two respective positions in space;
- generating, from the two-dimensional digital images, based on a stereoscopic three-dimensional reconstruction calculation method, a first intermediate three-dimensional numerical model associated with the observed three-dimensional scene;
- generating, from the two-dimensional digital images, based on a method of three-dimensional reconstruction calculation by learning, a second intermediate three-dimensional numerical model associated with the observed three-dimensional scene;
- generating, by combination of the first and second intermediate three-dimensional numerical models, a final three-dimensional numerical model, with said generation comprising selecting, for a determined portion of the final three-dimensional numerical model, a corresponding portion of that of the first and second intermediate three-dimensional numerical models which maximizes a quality criterion of the representation of the observed three-dimensional scene based on a comparison of at least one characteristic parameter of said first and second intermediate three-dimensional numerical models for said corresponding portion which is representative of the quality of the representation of the observed three-dimensional scene;
- storing, in a memory, digital information comprising at least one received two-dimensional digital image, the final three-dimensional numerical model associated with said two-dimensional digital image, and a characteristic parameter of said final three-dimensional numerical model, representative of the quality of the representation of the three-dimensional scene observed;
- and,
- using stored digital information as learning data to train and retrain the calculating unit for the execution of the method of three-dimensional reconstruction calculation by learning.
4 more elements
Dependencies are inferred from the claim text.