Method for creating a 3d representation and corresponding image recording apparatus

A method for creating a 3D representation with respect to a recording object, comprising

• in a recording step (1), recording a sequence of individual images (2, 3) of the recording object from a respective camera pose (4),
• in a feature detection step (5), applying a feature detection to the individual images (2, 3) in a computer-aided manner in order to identify image pixels as feature pixels (6, 7, 8, 9),
• in a 3D calculation step (10) with respect to the feature pixels (6, 7, 8, 9), calculating the camera poses (4) and respectively 3D points (11, 12) in a computer-aided manner,
• in a fitting step (13) for the 3D points (11, 12) of the feature pixels (6, 7, 8, 9), fitting at least one geometric primitive (14) in a computer-aided manner,
• in a plausibility check (15), at least one of checking or optimizing the at least one geometric primitive (14) as to whether or until a discrepancy between the individual images (2, 3) is determined, and
• in a representation step (16), outputting the geometric primitive (14) with a minimized discrepancy.