Method, electronic device, and computer program product for modeling an object utilizing a spatial distribution and differences between features of respective image pairs

An electronic device, comprising:

• at least one processor;
• and
• memory coupled to the at least one processor and storing instructions, wherein the instructions, when executed by the at least one processor, cause the electronic device to perform actions comprising:
• acquiring first position spatial information of a camera at a first position and second position spatial information of the camera at a second position, wherein the first position is different from the second position;
• generating a spatial distribution based on the first position spatial information and the second position spatial information, wherein the spatial distribution represents a probability distribution of space occupied by an object captured from a pose of the camera;
• generating a third image based on a first image captured at the first position, the spatial distribution, and the first position spatial information;
• generating a fourth image based on a second image captured at the second position, the spatial distribution, and the second position spatial information;
• and
• adjusting a model of the object based on the first image, the second image, the third image, and the fourth image;
• wherein adjusting the model based on the first image, the second image, the third image, and the fourth image comprises:
• calculating a first difference between features of the third image and features of the second image;
• calculating a second difference between features of the fourth image and features of the first image;
• and
• controlling adjustment of the model based on comparison of a function of at least the first difference and the second difference to at least one threshold.

A computer program product comprising a non-transitory computer-readable storage medium having machine-executable instructions stored therein, wherein the machine-executable instructions, when executed by a machine, cause the machine to perform actions comprising:

• acquiring first position spatial information of a camera at a first position and second position spatial information of the camera at a second position, wherein the first position is different from the second position;
• generating a spatial distribution based on the first position spatial information and the second position spatial information, wherein the spatial distribution represents a probability distribution of space occupied by an object captured from a pose of the camera;
• generating a third image based on a first image captured at the first position, the spatial distribution, and the first position spatial information;
• generating a fourth image based on a second image captured at the second position, the spatial distribution, and the second position spatial information;
• and
• adjusting a model of the object based on the first image, the second image, the third image, and the fourth image;
• wherein adjusting the model based on the first image, the second image, the third image, and the fourth image comprises:
• calculating a first difference between features of the third image and features of the second image;
• calculating a second difference between features of the fourth image and features of the first image;
• and
• controlling adjustment of the model based on comparison of a function of at least the first difference and the second difference to at least one threshold.