METHOD AND SYSTEM FOR REFINING THE CAMERA POSITION TAKING INTO ACCOUNT THE ROOM PLAN Russian patent published in 2023 - IPC G06T7/70 G06T7/80 

FIELD: computer vision.

SUBSTANCE: method comprises the following steps: obtaining a floor plan of a three-dimensional (3D) scene structure, reflecting the a priori structure of this scene; obtaining one or more scans of the scene image with the camera; finding the direction of gravity for one or more image scans; constructing an edge scan by filtering out points on one or more image scans which horizontal projections are statistical outliers; aligning the border scan with the floor plan; extracting structural elements from one or more image scans and optimizing the three-term cost function based on the geometric term, the floor term, and the wall term by pulling points on one or more image scans that correspond to the structural elements to the corresponding points on the floor plan to refine the camera pose in 3D scene.

EFFECT: increase of the accuracy of at least one scan of a 3D scene while automatically obtaining a complete scheme of this scene.

15 cl, 9 dwg, 5 tbl