Method and arrangement for identifying a difference between a first 3D model of an environment and a second 3D model of the environment

摘要

The invention relates to a method for identifying a difference between a first 3D model of an environment and a second 3D model of the environment. The first and second 3D model each comprise a plurality of points or parts, wherein each point or part of the first and second model comprises geometrical information and texture information. Corresponding points or parts of the first and second 3D model are matched based on the geometrical information and/or the texture information. The matched points or parts of the first and second model are compared to determine at least one difference value based on the geometrical information and the texture information of the first and second model. A difference between the first and second model is identified if the at least one difference value exceeds a predetermined value. The invention also relates to an arrangement, a computer program, and a computer program product.

主权项

1. A computer-implemented method (200) for identifying a difference between a first 3D model (101a) of an environment and at least a second 3D model (101b) of the environment, wherein the first and second 3D model each comprise a plurality of points or parts, wherein each point or part of the first and second model comprises geometrical information and texture information, the method comprising the steps of:
automatically matching (210), via at least one processing element, corresponding points or parts of the first and second 3D model based on the geometrical information and/or the texture information; and automatically comparing (220), via the at least one processing element, the matched points or parts of the first and second model to determine at least one difference value based on the geometrical information and the texture information of the first and second model, wherein the step of comparing the matched points or parts of the first and second model to determine the at least one difference value based on the geometrical information and the texture information comprises the sub-steps of: for each point or part of the first 3D model, searching for a closest point in the second 3D model to determine at least one first difference value for that point or part; for each point or part of the second 3D model, searching for a closest point in the first 3D model to determine at least one second difference value for that point or part; and determining the at least one difference value further based on the at least one first difference value and the at least one second difference value.