Three-dimensional structure acquisition method, apparatus and computer readable medium

A three-dimensional structure acquisition apparatus comprising:

• input means for inputting images from a camera;
• first extraction means for extracting a three-dimensional structure from said images by a predetermined method;
• generation means for generating depth maps from said three-dimensional structure;
• calibration means for correcting image deviation due to camera fluctuation by using said depth maps;
• second extraction means for extracting a three-dimensional structure from calibrated images by said predetermined method;
• and
• a storage device for storing extracted said three-dimensional structure.

A computer readable medium storing program code for causing a computer to acquire a three-dimensional structure, said computer readable medium comprising:

• input program code means for inputting images from a camera to a computer;
• first extraction program code means for extracting a three-dimensional structure from said images by a predetermined method;
• generation program code means for generating depth maps from said three-dimensional structure;
• calibration program code means for correcting image deviation due to camera fluctuation by using said depth maps;
• second extraction program code means for extracting a three-dimensional structure from calibrated images by said predetermined method;
• and
• outputting program code means for outputting said three-dimensional structure to a storage device.