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1. (WO2017001356) PROCÉDÉ DE CONSTRUCTION D'UN MODÈLE D'UNE SCÈNE ET DISPOSITIF ASSOCIÉ
Note: Texte fondé sur des processus automatiques de reconnaissance optique de caractères. Seule la version PDF a une valeur juridique

CLAIMS

1 . A method in constructing a model of a scenery, said method

comprising:

receiving (200) a plurality of images depicting the scenery, wherein each image is acquired by a camera (104) from a position aiming at the scenery in a rotational angle;

creating (202) a plurality of sub-models, wherein each of the plurality of sub-models is created by:

selecting (400) a basis image among the plurality of images; determining (402) related images among the plurality of images, wherein each related image is related to the basis image by means of a depicted part of the scenery in the related image and a depicted part of the scenery in the basis image are at least partly overlapping; and determining (404) the sub-model based on the basis image and the related images, wherein the sub-model defines relative positions and rotational angles of the camera (104) for the basis image and the related images and the sub-model further defines three-dimensional structures of objects depicted in the plurality of images; and

separately merging (204) the defined relative positions and rotational angles of cameras (104) for the plurality of sub-models.

2. The method according to claim 1 , wherein the merging (204) comprises calculating the relative position and rotational angle of the camera (104) for the plurality of images based on the determined relative positions and rotational angles of the camera (104) for the basis image and the related images of each of the sub-models.

3. The method according to any one of the preceding claims, further comprising receiving (502) additional information for at least some of the plurality of images, said additional information providing an indication of the position or rotational angle of the camera (104), and wherein the merging (204) is further based on said additional information and comprises

calculating absolute position and rotational angle of the camera (104) for the plurality of images.

4. The method according to claim 3, wherein the merging (204) weights the plurality of sub-models and the additional information based on accuracy.

5. The method according to any one of the preceding claims, wherein the scenery constitutes a pre-defined geographical area.

6. The method according to claim 5, further comprising receiving further images, wherein each further image is acquired by a camera (104) from a position, and the position of the camera (104) is within the pre-defined geographical area.

7. The method according to claim 6, further comprising updating the model by updating (612) the sub-models taking the further images into account and merging (614) the defined relative positions and rotational angles of cameras (104) for the plurality of updated sub-models.

8. The method according to claim 6, wherein said updating is triggered (606) when a predetermined number of further images are received.

9. The method according to any one of the preceding claims, wherein a basis image of a first sub-model is a related image of a second sub-model.

10. The method according to any one of the preceding claims, wherein the plurality of images are represented as a graph (10), wherein each image is represented by a node (12) in the graph (10) and relations between images are represented by edges (14) between nodes (12), and wherein said determining of related images comprises starting in a basis node of the graph (10) representing the basis image and selecting nodes that are connected by an edge (14) to the basis node, wherein the selected nodes represent the related images.

1 1 .A method for updating a model of a scenery, wherein the model is based on a plurality of images depicting the scenery, said model defining three-dimensional structures of objects depicted in the plurality of images, said method comprising:

defining (600) a geographical area, which forms an area to be represented by the model;

receiving (602) a plurality of new images depicting the scenery, wherein each new image is acquired by a camera (104) from a position and said position is within said geographical area;

determining (606) whether the plurality of new images fulfill a predefined updating criterion; and

initiating (606) an update of the model when said number of new images fulfills the updating criterion.

12. The method according to claim 1 1 , wherein said updating criterion is a number of new images.

13. The method according to claim 1 1 or 12, further comprising defining (608) a boundary area enclosing the plurality of new images, wherein the boundary area is defined with a margin between an edge of the boundary area and a new image among the plurality of new images which is closest to the edge of the boundary area.

14. A device for constructing a model of a scenery, said device comprising a processor (102) configured to:

receive a plurality of images depicting the scenery, wherein each image is acquired by a camera (104) from a position aiming at the scenery in a rotational angle;

create a plurality of sub-models, wherein each of the plurality of sub-models is created by:

selecting a basis image among the plurality of images;

determining related images among the plurality of images, wherein each related image is related to the basis image by means of a depicted part of the scenery in the related image and a depicted part of the scenery in the basis image are at least partly overlapping;

determining the sub-model based on the basis image and the related images, wherein the sub-model defines relative positions and rotational angles of the camera for the basis image and the related images and the sub-model further defines three-dimensional structures of objects depicted in the plurality of images; and

separately merge the defined relative positions and rotational angles of cameras (104) for the plurality of sub-models.

15. A computer program product comprising a computer-readable medium with computer-readable instructions such that when executed on a processing unit the computer program product will cause a processing unit to perform the method according to any one of claims 1 -13.