| 摘要 |
The invention concerns a method of 3D reconstruction of a scene by means of 2D panoramic images of the scene, which comprises a step of processing said images. These images originate from a panoramic system that moves along a predefined trajectory, such that the image of at least one point in the scene is in at least 3 successive images obtained from different directions; the step of processing these successive 2D images comprises the following sub-steps: defining reconstruction planes in the scene to be reconstructed, from panoramic image pairs, defining, for each pair, rectification planes corresponding to the reconstruction planes, and projecting onto each of them a sector of each image of the pair, directly, to obtain two rectified 2D images, mapping the two rectified 2D images to obtain an intermediate 3D reconstruction, transforming each intermediate 3D reconstruction into a 3D reference including the reconstruction planes, in order to obtain a transformed intermediate 3D reconstruction, repeating steps b) to d) on a new pair of panoramic 2D images and at least one other rectification plane, so as to obtain at least one other transformed intermediate 3D reconstruction, f) temporally merging at least two transformed intermediate 3D reconstructions in order to obtain a 3D reconstruction of the scene. |
