| CPC G06T 19/20 (2013.01) [G06T 15/00 (2013.01); G06T 17/00 (2013.01); H04N 19/513 (2014.11); G06T 2219/2004 (2013.01); H04N 19/597 (2014.11)] | 20 Claims |

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1. At least one non-transitory computer readable medium comprising instructions to cause at least one programmable circuit to at least:
obtain image data of decoded video frame sequences of a same scene from multiple perspectives;
generate a three dimensional (3D) structure of 3D points based on the image data; and
refine locations of the 3D points in the 3D structure based on a decoder-based bundle adjustment, the decoder-based bundle adjustment to refine the locations based on decoder prediction data.
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