Method of 3d reconstruction and 3d panoramic mosaicing of a scene

摘要

A method of mosaicing of a scene as a 3D mosaic, characterized in that at least one 3D reconstruction having been obtained, comprises the following steps: A) acquiring successive images by means of a panoramic sensor moving in displacement along a predefined mosaicing trajectory, the last image acquired being referred to as the current panoramic image; B) choosing one or more scene-related projection surfaces on which the mosaic will be constructed, C) from the textures of the panoramic images overlapping each 3D reconstruction, retrieving the textures originating from the current panoramic image, D) from among these textures, selecting the visible parts in each projection surface with the aid of the 3D reconstruction, E) projecting these textures onto each projection surface and fusing the textures in each projection surface to thus obtain a conformal mosaic on each projection surface.