Joint visual object detection and object mapping to a 3D model

An image processing device for joint visual object detection and object mapping to a 3D model, the image processing device comprising processing circuitry, the processing circuitry being configured to cause the image processing device to:

• obtain a first sequence of digital images of a scene as captured by a first image capturing unit, and to obtain a second sequence of digital images of the scene as captured by a second image capturing unit,
• wherein the second sequence of digital images is time-wise synchronized with the first sequence of digital images by being captured time-wise in parallel with the first sequence of digital images, wherein the first image capturing unit has a narrower field of view than the field of view of the second image capturing unit, and wherein the first image capturing unit and the second image capturing unit have a known spatial relation;
• and
• perform joint visual object detection and object mapping to the 3D model by:
• extract a set of objects from both the first sequence of digital images and the second sequence of digital images by performing visual object detection on both the first sequence of digital images and the second sequence of digital images;
• map the extracted set of objects to the 3D model in accordance with the second sequence of digital images and the known spatial relation, and thereby registering the scene to the 3D model;
• and
• provide, as a result of how many objects are detected either in the first sequence of digital images or in the second sequence of digital images, an indication to move the image capturing units closer towards, or farther from, the scene.