US 12,348,699 B2
Three-dimensional reconstruction method, three-dimensional reconstruction device, and computer
Toru Matsunobu, Osaka (JP); Toshiyasu Sugio, Osaka (JP); Satoshi Yoshikawa, Hyogo (JP); and Masaki Fukuda, Osaka (JP)
Assigned to PANASONIC INTELLECTUAL PROPERTY CORPORATION OF AMERICA, Torrance, CA (US)
Filed by Panasonic Intellectual Property Corporation of America, Torrance, CA (US)
Filed on Oct. 27, 2020, as Appl. No. 17/081,410.
Application 17/081,410 is a continuation of application No. PCT/JP2019/021330, filed on May 29, 2019.
Claims priority of provisional application 62/677,933, filed on May 30, 2018.
Prior Publication US 2021/0044787 A1, Feb. 11, 2021
Int. Cl. H04N 13/111 (2018.01); H04N 13/25 (2018.01); H04N 13/243 (2018.01); H04N 13/296 (2018.01)
CPC H04N 13/111 (2018.05) [H04N 13/25 (2018.05); H04N 13/243 (2018.05); H04N 13/296 (2018.05)] 8 Claims
OG exemplary drawing
 
1. A computer for generating a three-dimensional point, the computer comprising:
a receiver configured to receive a first image and a second image, the first image being generated by shooting a first field of view from a first viewpoint with at least one camera, the second image being generated by shooting a second field of view from a second viewpoint with the at least one camera, the first viewpoint being different from the second viewpoint; and
a processor coupled to the receiver, the processor being configured to:
calculate a degree of similarity between the first field of view and the second field of view, by using a relationship between (i) a first camera parameter of the at least one camera when the first field of view is shot and (ii) a second camera parameter of the at least one camera when the second field of view is shot;
determine whether the degree of similarity is equal to or higher than a threshold;
perform a first matching that identifies, as corresponding points, a first position of a first feature point in the first image and a second position of a second feature point in the second image if the degree of similarity is determined to be equal to or higher than the threshold;
perform a second matching that identifies, as corresponding points, the first position and the second position if the degree of similarity is determined to be lower than the threshold, second accuracy of the second matching being lower than first accuracy of the first matching; and
generate the three-dimensional point based on a result of one of the first matching and the second matching, the three-dimensional point indicating a three-dimensional position in the first field of view and the second field of view.