Three dimensional reconstruction method, apparatus and non-transitory computer readable storage medium thereof

A 3D reconstruction apparatus used in a head-mounted device (HMD) comprising:

• a storage module configured to store a plurality of computer-executable instructions;
• a signal receiver;
• a first camera;
• and
• a processing module electrically coupled to the storage module and the signal receiver and configured to retrieve and execute the computer-executable instructions to perform a 3D reconstruction method when the computer-executable instructions are executed, wherein the 3D reconstruction method comprises:
• receiving a plurality of positioning signals by the signal receiver HMD at a first time spot and a second time spot to determine a HMD displacement vector and a HMD rotation amount according to the positioning signals;
• retrieving a first image at the first time spot and a second image at the second time spot by a first camera disposed at the HMD to determine a first camera rotation amount according to the first image and the second image;
• calculating a relative rotation amount and a relative displacement vector between the HMD and the first camera;
• calculating a first camera displacement vector of the first camera according to the HMD displacement vector, the HMD rotation amount, the relative rotation amount and the relative displacement vector;
• obtaining depth information of the first image and the second image based on the first camera displacement vector and the first camera rotation amount;
• and
• performing 3D reconstruction according to images retrieved by the first camera and the depth information.

A non-transitory computer readable storage medium that stores a computer program comprising a plurality of computer-executable instructions to perform a 3D reconstruction method used in a 3D reconstruction apparatus used in a head-mounted device, the 3D reconstruction apparatus at least comprises a storage module, a signal receiver, a first camera and a processing module electrically coupled to the storage module, the signal receiver and the first camera and configured to retrieve and execute the computer-executable instructions to perform the 3D reconstruction method when the computer-executable instructions are executed, wherein the 3D reconstruction method comprises:

• receiving a plurality of positioning signals by the signal receiver disposed at a head mounted device (HMD) at a first time spot and a second time spot to determine a HMD displacement vector and a HMD rotation amount according to the positioning signals;
• retrieving a first image at the first time spot and a second image at the second time spot by the first camera disposed at the HMD to determine a first camera rotation amount according to the first image and the second image;
• calculating a relative rotation amount and a relative displacement vector between the HMD and the first camera;
• calculating a first camera displacement vector of the first camera according to the HMD displacement vector, the HMD rotation amount, the relative rotation amount and the relative displacement vector;
• obtaining depth information of the first image and the second image based on the first camera displacement vector and the first camera rotation amount;
• and
• performing 3D reconstruction according to images retrieved by the first camera and the depth information.