| 摘要 |
The present invention relates to an automated three dimensional mapping method estimating tree dimensional models taking advantage of a plurality of images. The object of the invention is to eliminate or at least reduce the need of smoothing and as a consequence increase the stability of a 3D model avoiding blur. According to the method the positions (x, y, z) and attitudes (α, &bgr;, γ) for at least one camera is recorded when images are taken, the at least one camera is geometrically calibrated to indicate the direction of each pixel of an image, a stereo disparity is calculated (42) for a plurality of image pairs covering a same scene position setting a disparity and a certainty measure estimate for each stereo disparity, the different stereo disparity estimates are weighted together (43) to form a 3D model, and the stereo disparity estimates are reweighted automatically and adaptively based on the estimated 3D model. |
